# Real-Time Variational Fisheye Stereo without Rectification and Undistortion

arXiv: https://arxiv.org/abs/1909.07545 · HTML: https://mlsanity.com/paper/1909.07545/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Sep 2019.

## Built on by (most cited first, 1 of 1)

- [Depth Estimation Analysis of Orthogonally Divergent Fisheye Cameras with Distortion Removal](https://mlsanity.com/paper/2307.03602/) (2023)

## Abstract (arXiv)

Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and undistortion. We extend the conventional variational stereo method by constraining the correspondence search along the epipolar curve using a trajectory field induced by camera motion. We also propose a fast way of generating the trajectory field without increasing the processing time compared to conventional rectified methods. With our implementation, we were able to achieve real-time processing using modern GPUs. Our results show the advantages of our non-rectified dense mapping approach compared to rectified variational methods and non-rectified discrete stereo matching methods.