The Polar Epipolar Rectification

Epipolar rectification of a stereo pair is the process resampling images so that apparent motion corresponding points horizontal. This an important preliminary step in depth estimation, substituting by disparity estimation. Most methods rely on perspective transform both images, which has advantage to simulate different attitude pinhole cameras. A limitation when epipole inside image domain, it be sent infinity transform, producing strong distortion. On contrary, relying polar centered at provides method applicable universally camera views. We present detail algorithm, filling information for its implementation and missing published articles.