New Method of Reconstruction from Nonparallel Stereo and Application to Surgical Navigator

摘要

A new method to reconstruct 3D scene points from nonparallel stereo is proposed. From a pair of conjugate images in an arbitrarily configured stereo system that has been calibrated, coordinates of 3D scene points can be computed directly using the method, bypassing the process of rectifying images or iterative solution involved in existing methods. Experiment results from both simulated data and real images validate the method. Practical application to surgical navigator shows that the method has advantages to improve efficiency and accuracy of 3D reconstruction from nonparallel stereo system in comparison with the conventional method that employs algorithm for standard parallel axes stereo geometry.