Stereo rectification for equirectangular images

This paper proposes a method of stereo rectification for stereo camera using two fisheye cameras. Rectification parameters are estimated from feature points obtained from an image of an arbitrary environment. Errors due to deviation of the position and rotation of the left and right cameras are removed by stereo rectification. The performance of the fisheye stereo camera using equirectangular images is evaluated by simulation and experiments. It is shown that accuracy of range measurement is improved by the proposed rectification.