Stereo rectification of uncalibrated and heterogeneous images

In this paper, an algorithm for rectifying heterogeneous and uncalibrated pairs of stereo images is presented. In particular, a pair of images is captured by using a combination of static and dynamic cameras at unequal zoom, thus having different focal lengths and/or image resolutions. The rectification of such pairs of images is made in two steps. In the first step, image shrinking based on focal ratios is performed for compensating the effect of unequal zoom levels followed by a zero padding on the smaller image for making the images of equal size. In the second step, rectification transformations are calculated by solving a nonlinear constrained optimization problem for a given set of pairs of corresponding points (SIFT descriptors) between stereo images. Experiments are performed to evaluate the performance of the proposed method and assess the improvements of the proposed method over direct rectification. 2010 Elsevier B.V. All rights reserved.