Reconstruction of 3D scenes using stereoimages without rectification

The problem of reconstructing 3D scenes using stereopairs of images is considered. In contrast to traditional technologies whereby the rectification and disparity map construction are implemented, the corresponding points are determined directly on the epipolar lines that belong to the given epipolar plane. A complete three-dimensional model of an object is constructed by scanning a 3D scene using pencils of planes. The elimination of fragment-matching errors occurs by using the decimation filtering of the found points. The results of experiments that show the efficiency of the proposed technology are provided.