A Closed-Form Solution of Reconstruction from Nonparallel Stereo Geometry Used in Image Guided System for Surgery

摘要

In this paper, a closed-form solution of 3D reconstruction from non-parallel stereo geometry is derived theoretically. From a pair of conjugate image points in an arbitrarily configured stereo system that has been calibrated, one can directly reconstruct the 3D scene point using the closed-form solution, bypassing the process of rectifying the images or iteratively optimizing. Experiment results from both simulated data and real images validate the closed-form solution. Practical application to Image Guided System for surgery shows that the closed-form solution has advantages to improve efficiency and accuracy of 3D reconstruction from nonparallel stereo system in comparison with the conventional method that employs algorithm for the standard parallel axis stereo geometry.