Uncalibrated image rectification for coplanar stereo cameras

Nowadays, underwater maintenance tasks, mostly in the case of oil and gas industries, have been assisted by computer vision algorithms. An important part of these procedures is the rectification of stereo images, which is the first step in the stereo 3D reconstruction pipeline. Some aspects of the underwater environment make the rectification process difficult: it presents a very noisy scenario; and the equipment is almost textureless. As a result of this demanding scenario, this article proposes a novel technique for a more accurate rectification of a set of images than the state-of-the-art methods. Tests were carried out proving the efficiency of the proposed technique.