Calibration and stereo image correction for binocular vision system with divergent optical axes arrangement

A stereo image correction method is proposed to correct the vertical disparity (VD) and the horizontal disparity (HD) distortion of the images captured by binocular vision system with divergent optical axes arrangement. In this paper, we calibrate both intrinsic and structural parameters of the two cameras. Using the parameters, the vertical disparity and the horizontal disparity distortion was eliminated by an image stereo correction method using disparity consistency. The simulation results corroborate the robustness of the method under non-ideal image sampling conditions and changing view distance. The experimental results show that the proposed method eliminates both VD and distortion of HD.