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A technique is presented for calibrating and rectifying in a very efficient and simple manner pairs or triplets of images taken for binocular or trinocular stereovision systems. After the rectification of images, epipolar lines are parallel to the axes of the image coordinate frames. Therefore, potential matches between two or three images satisfy simpler relations, allowing for simpler and more efficient matching algorithms. Experimental results obtained with a binocular and a trinocular stereovision system are presented, and a complexity analysis is provided.>
Ayache et al. (Mon,) studied this question.