SYSTEMS AND METHODS FOR CALCULATING EPIPOLAR CONSTRAINTS BETWEEN GENERALIZED CAMERAS

摘要

Methods and systems for calculating epipolar constraints between a plurality of generalized cameras are provided. Each generalized camera implements two pixel projection functions. One function converts a known pixel location into a ray emanating from a projection center of a first camera to a point on a feature at the pixel location. Another function converts a three dimensional point on the feature in Euclidean space to a pixel location on a projection of the feature in the image space of a second camera. Subsegments of along the ray are projected onto the image space of the second camera and are subdivided until each subsegment spans no more than one pixel in the second camera's image space. The endpoints of all subsegments are projected into the image space of the second camera and the discrete pixel locations of each subsegment are recorded to form epipolar zones.