Epipolar line estimation and rectification for stereo image pairs

The assumption that epipolar lines are parallel to image scan lines is made in many algorithms for stereo analysis. If valid, it enables the search for corresponding image features to be confined to one dimension and, hence, simplified. An algorithm that generates a vertically aligned stereo pair by warped resampling is described. The method uses grey scale image matching between the components of the stereo pair but confined to feature points.