Rectifying Homographies for Stereo Vision: Analytical Solution for Minimal Distortion

Stereo rectification is the determination of two image transformations (or homographies) that map corresponding points on images, projections same point in 3D space, onto horizontal line transformed images. Rectification used to simplify subsequent stereo correspondence problem and speeding up matching process. Rectifying transformations, general, introduce perspective distortion obtained which shall be minimised improve accuracy following algorithm dealing with problem. The search for optimal usually carried out relying numerical optimisation. This work proposes a closed-form solution rectifying homographies minimise distortion. experimental comparison confirms its capability solve convergence issues previous formulation. Its Python implementation provided.