Misalignment correction for depth estimation using stereoscopic 3-D cameras

This paper presents a misalignment correction method for reducing depth errors that result from camera shift. The proposed method uses a real-time motion estimation approach to correct for alignment errors between stereo cameras. Unlike existing methods in the literature, the natural disparity between stereo views is incorporated into a constrained motion estimation framework. The proposed method is shown to accurately estimate synthetic misalignments due to translation, rotation, scaling, and perspective transformation. In addition, real images taken from a stereo camera rig confirm that the proposed method is capable of significantly reducing misalignments due to camera yaw, pitch, and roll.