Calibration of stereo vision system based on a new binocular device

In order to obtain larger camera visual field and higher system robustness, a new binocular device is developed. A stereo vision system based on this binocular device is built and calibrated. In order to eliminate image distortion, an explicit-implicit distortion correction method is presented, which can correct radial and tangential image distortions and can be solved with least square method. A compact and precise step-rotation method is used to rectify the epipolar lines. Experimental results show that the stereo image pairs processed by explicit-implicit distortion correction method and step-rotation method can meet the requirements of stereo matching.