The proposed method allows to obtain long range data for the objects that are registered with image disparities of just a few pixels, supplementing conventional multi-view stereo (MVS) methods optimized for larger disparity values. This method uses at least four identical image sensing devices with parallel optical axes and located in the corners of a square providing orthogonal baselines for the imager pairs of the equal length. Image enhancement and processing is based on 2-d complex lapped transform (CLT), this method achieves subpixel disparity resolution with frequency-domain differential rectification avoiding resampling of the rectified images. CLT has efficient FPGA implementations with discrete cosine (DCT) and sine (DST) transforms. FPGA-based tile processor (TP) outputs data for the disparity space image (DSI), textures, data for field calibration and velocity measurements with electronic rolling shutter image sensors.
Method for the FPGA-based long range multi-view stereo with differential image rectification