An image rectification method on image sequence of monocular motion vision

Image rectification reduce the search space from 2-dimension to 1-dimension and improve the searching efficiency of stereo matching algorithm greatly. In this paper, a simple and convenient method, which fully considered image sequence of monocular motion vision, is proposed to rectify the calibrated image sequence. The method is based on coordinate system transformation, which can avoid the mass and complex computations, and the method rectifies image sequence (three images) at once, which is efficient in image sequence processing. In this method, the rectification is composed of several steps. Firstly, we establish a reference coordinate system by three movement position. The Z axis of the reference coordinate system o_XYZ is the normal vector of the plane which three positions located. The direction of X axis coincides with the baseline from position 2 to position 1. We set Y axis according to right-hand principle. Secondly, we set the x axis and z axis of reference image space coordinate system o_xyz coincides with the X axis and Z axis of the reference coordinate system, and the y axis is set to coincide with the line from position 2 to position 3. Finally, we deduce a homography matrix to realize the image rectification. Both image data and computer simulation data show that the method is an effective rectification method.