Generalized stereo for hybrid omnidirectional and perspective imaging

In this paper we present a general framework for the hybrid omnidirectional and perspective imaging system. Based on the hybrid imaging geometry, a generalized stereo approach is developed via the construction of virtual cameras. It is then used to rectify the hybrid image pair using the perspective projection model. The proposed method not only simplifies the computation of epipolar geometry for the hybrid imaging system, but also facilitates the stereo matching between the heterogeneous image formation. Experimental results for both the synthetic and real scene images have demonstrated the feasibility of our approach.