Image rectification for single camera stereo system

Single camera stereo system utilizes mirrors and a single camera for computational stereo, where the mirrors provide extra views needed for stereo and 3D reconstruction. In this paper, we investigate the basic epiploar geometric properties of the single camera stereo image and propose a novel image rectification technique to map the epipolar lines in the original image into the horizontally aligned lines in the rectified image. Besides, the rotation angles of the single camera corresponding to the planar mirror are derived during rectification. Experimental results show the robustness and accuracy of our method.