Correspondence stereo vision under general stereo camera configuration

Despite extensive study on it for decades, stereo vision is still widely regarded as a difficult problem. What makes it difficult is the stereo correspondence problem. Earlier Aloimonos and Herve (1992) proposed an algorithm that avoids the need of establishing correspondences across the stereo images. The algorithm however assumes a particular stereo configuration: the parallel-axes stereo geometry. This paper describes how the restriction could be removed and provides, in a closed-form format, an extension of the algorithm for general stereo geometry.