| Citation: | LUO Q J，TIAN X，GAO Q J. Rotation binocular stereo rectification algorithm based on hierarchical spatial consistency[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1551-1559 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0611
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The mechanical gap of the turntable in the rotating binocular stereo vision system causes the left and right cameras to rotate and deviate in translation, severely distorting the stereo rectification image. To solve this problem, a rotating binocular stereo rectification algorithm based on hierarchical spatial consensus is proposed. Firstly, oriented FAST and rotated BRIEF (ORB) features are used for the fast global stereo matching in the original images, and a new global double-layer constraint of feature points is defined to realize the preferred selection of the matching points. Then, a local verification method based on the consensus of the neighborhood space of the inliers is proposed to realize the secondary matching optimizations and the matching points are optimized by quality sorting. To finish the stereo rectification of the pictures, the eight-point method-based fundamental matrix estimation algorithm determines the precise pose relationship between the left and right cameras. The comparison experiments of typical algorithms on Oxford and SYNTIM datasets verify the proposed algorithm's performance. The multi-angle stereo rectification experiment shows that the proposed algorithm can adapt to the change of optical axis angle, and ensure the quality of stereo rectification when the maximum angle of binocular is 45°. The deviation of the matching point is less than 0.2 pixels.
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