Geometrical-Analysis-Based Algorithm for Stereo Matching of Single-Lens Binocular and Multi-Ocular Stereovision System

摘要

A geometrical analysis based algorithm is proposed to achieve the stereo matching of a single-lens prism based stereovision system. By setting the multi-face prism in frontal position of the static CCD (CM-140MCL) camera, equivalent stereo images with different orientations are captured synchronously by virtual cameras which are defined by two boundary lines: the optical axis and CCD camera field of view boundary. Subsequently, the geometrical relationship between the 2D stereo images and corresponding 3D scene is established by employing two fundamentals: ray sketching in which all the pertinent points, lines, and planes are expressed in the 3D camera coordinates and the rule of refraction. Landing on this relationship, the epipolar geometry is thus obtained by fitting a set of corresponding candidate points and thereafter, stereo matching of the prism based stereovision system is obtained. Moreover, the unique geometrical properties of the imaging system allow the proposed method free from the complicated camera calibration procedures and to be easily generalized from binocular and tri-ocular to multi-ocular stereovision systems. The performance of the algorithm is presented through the experiments on the binocular imaging system and the comparison with a conventional projection method demonstrates the efficient assessment of our novel contributions.