Mathematical Analysis of Stereo Vision Camera with Lens Distortion Calibration

In this paper is to control the high presision camera mapping for robotic vision system purposes. The benchmark approach models the camera mapping as a camera with distortion. Moreover in this article presents mathamatical solution of disparity produced in case of stereo calibration due to non-linearity of images obtained from two cameras. Due to the change in the angle between the two cameras, image position changes and rectification procedures are required to correct calibration. Using fundamental matrix and minimizing disparity matrix error is removed. Paper involves finding the fundamental matrix of the camera and then using it to find depth of image. Next follows disparity correction using correlation methods. Microsoft visual studio is used as programming environment. Chessboard is taken as test image.