Accurate geometrical optics model for single-lens stereovision system using a prism

In this paper, we proposed a new method for analyzing the image formation of a prism. The prism was considered as a single optical system composed of some planes. By analyzing each plane individually and then combining them together, we derived a transformation matrix which can express the relationship between an object point and its image by the refraction of a prism. We also explained how to use this matrix for epipolar geometry and three-dimensional point reconstruction. Our method is based on optical geometry and could be used in a multiocular prism. Experimentation results are presented to prove the accuracy of our method is better than former researchers' and is comparable with that of the multicamera stereovision system.