We consider the general case for camera motion (6 dof) and with general objects in the views.
The reference system is fixed as follows:
- the origin is the lens center of the first left camera,
- the X axis connects the lens centers of the left cameras,
- the XZ plane contains the optical axis of the first left camera.
Camera motion is described by the 6 variables: Th1, Rho1, X2, Th2, Rho2, and Phi2 (all angles except for X2).
The new idea is to consider the camera motion problem as a stereo problem,
in which the objective is to transform the images as they were taken by
a virtual large baseline stereo rig in a standard setting.
In other words, instead of using just a few features in the images we
make use of all the pixels in the images
(data association is addressed by stereo correlation).