Mathematical model for hybrid and panoramic stereovision systems: panoramic to rectilinear conversion model

This paper introduces a new generic model for a stereovision system composed of a perspective camera and a panoramic camera or of two panoramic cameras. We present a new simple model in order to establish matching images and to formulate 3D reconstruction. Indeed, we show that composed cubic splines functions are suitable for conventional and wide-angle cameras and accurately model tangential and radial distortions. Matching is greatly simplified using this technique, and classical methods can be used to evaluate the relationship between image pairs and to achieve 3D reconstruction. Such a technique allows us to model complex forms of distortions, as in the case for panomorph lenses.