Method of extracting epipolar curve of stereoscopic image photographed by linear pushbroom (LPB) sensor

摘要

Disclosed is a method of extracting an epipolar curve C'q of the right image (or an epipolar curve Cq' of the left image) corresponding to one point q of the left image (or one point q' of the right image) in a stereoscopic image photographed by a linear pushbroom (LPB) sensor, comprising the steps of: assuming that the coordinates for the positions of the left and right cameras and the coordinates of the rotating angles of the left and right cameras are linear or nonlinear polynomials for a time or an image coordinate, and then deriving collinear equations consisting of various Expressions; calculating the coordinate value of a straight line Sq for connecting a focal point S of the left image and the one point q of the left image; substituting the calculated coordinate value of the straight line Sq into the collinear equation of the one point q' of the right image; and combining the Expressions of the substituted collinear equation, and deriving an equation of the epipolar curve C'q of the right image for the one point q of the left image.