Realtime stereo processing, particularly in computationally constrained environments such as the Mars 2020 Perseverance rover, requires image rectification to enable efficient one-dimensional correlation. A camera model has been designed to perform better image rectification for fish-eye lenses with a particular emphasis on the engineering cameras on Perseverance. The primary innovation is the use of a unit projection sphere rather than an image plane as the rectifying surface. For stereo rectification, the rows (for a horizontal pair) or the columns (for a vertical pair) of both cameras must lie on the same epipolar plane. Thus, we use a pair of moving planes to define the rows and columns. Each plane rotates about a dedicated static axis passing through the sphere center. Virtual pixels are located where the planes intersect with each other and the unit sphere.

中文翻译：

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平流球相机型号

实时立体处理，特别是在计算受限的环境中，例如 Mars 2020 Perseverance 漫游车，需要图像校正以实现有效的一维关联。相机模型旨在对鱼眼镜头进行更好的图像校正，特别强调 Perseverance 上的工程相机。主要创新是使用单位投影球而不是图像平面作为校正表面。对于立体校正，两个相机的行（水平对）或列（垂直对）必须位于同一对极平面上。因此，我们使用一对移动平面来定义行和列。每个平面围绕穿过球体中心的专用静态轴旋转。