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Direct Fisheye Stereo Correspondence Using Enhanced Unified Camera Model and Semi-Global Matching Algorithm

Abstract : In this paper, it is shown that the Enhanced Unified Camera Model, which is used to model fisheye cameras, projects straight lines into conic sections. Then a way to find equations of straight line projections is proposed. The method is applied to epipolar curves to adapt the Semi-Global Matching algorithm to fisheye stereo systems to compute a dense direct stereo correspondence without undistortion and rectification of fisheye images. It is done by efficient image sampling along an epipolar curve, using an algorithm for rasterization of implicit curves. A C++ implementation is available online.
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https://hal.archives-ouvertes.fr/hal-01722268
Contributor : Bogdan Khomutenko <>
Submitted on : Saturday, March 3, 2018 - 4:41:49 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:32 PM
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  • HAL Id : hal-01722268, version 1

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Bogdan Khomutenko, Gaëtan Garcia, Philippe Martinet. Direct Fisheye Stereo Correspondence Using Enhanced Unified Camera Model and Semi-Global Matching Algorithm. ICARCV 2016, Nov 2016, Phuket, Thailand. ⟨hal-01722268⟩

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