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Rectification was performed using the camera calibration parameters such that the x and y axes of the image plane are located parallel to the walking and vertical directions of the real 3D world, respectively.
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Hence, a slight modification based on half-wave rectification is performed on the method to avoid tracking offsets.
A half-wave rectification is performed to segregate ON and OFF channels of the input waveform, with the negative phase inverted in sign.
When half-wave rectification is performed, all negative data is discarded and positive data is kept.
Rectification to one pixel accuracy was performed for each sub-scene.
A rectification experiment of the upper and lower images in Fig. 10 was performed using the calibrated intrinsic parameters, the calculated rotation matrix, the unit translation vector, and our proposed stereo rectification method.
If multi-temporal images are to be used for quantitative analysis based on their radiometric information, as in the case of change detection or landuse classification, geometric rectification and radiometric correction must be performed priori to subsequent image analyses.
Since the rectification parameters are fixed by the camera type and by the relative orientation between the two cameras, the rectification process can be performed using a simple LUT plus a bilinear interpolation approach, as done in [21, 22], where the two LUTs (one for each image) are stored in the external shared memory.
In distillation, absorption, or rectification and stripping are performed in the same equipment.
In order to be compatible with the Brown distortion model described in the preceding section, the rectification needs to be performed inversely which is done by inverting M. Conversely, the inversion of the distortion would be more elaborate since there is no closed-form expression for an undistortion model (inverse Brown model).
Furthermore, real-time rectification and disparity estimation are performed on 1080p video at 30 frames per second.
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