{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/real-time-variational-fisheye-stereo-without","title":"Real-Time Variational Fisheye Stereo without Rectification and Undistortion","arxiv_id":"1909.07545","date":"2019-09-17","proceeding":null,"authors":["Menandro Roxas","Takeshi Oishi"],"abstract":"Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and undistortion. We extend the conventional variational stereo method by constraining the correspondence search along the epipolar curve using a trajectory field induced by camera motion. We also propose a fast way of generating the trajectory field without increasing the processing time compared to conventional rectified methods. With our implementation, we were able to achieve real-time processing using modern GPUs. Our results show the advantages of our non-rectified dense mapping approach compared to rectified variational methods and non-rectified discrete stereo matching methods.","url_abs":"https://arxiv.org/abs/1909.07545v1","url_pdf":"https://arxiv.org/pdf/1909.07545v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"real-time-variational-fisheye-stereo-without","repo_url":"https://github.com/menandro/vfs","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"stereo-matching-1","task_name":"Stereo Matching"},{"task_slug":"stereo-matching","task_name":"Stereo Matching Hand"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1909.07545","atlas_url":"https://app.syntology.ai/?focus=1909.07545","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}