Computer Stereo Vision
Stereo vision uses triangulation based on epipolar geometry to determine distance to an object.
Between two cameras there is a problem of finding a corresponding point viewed by one camera in the image of the other camera (known as the correspondence problem). In most camera configurations, finding correspondences requires a search in two-dimensions. However, if the two cameras are aligned to be coplanar, the search is simplified to one dimension - a horizontal line parallel to the line between the cameras. Furthermore, if the location of a point in the left image is known, it can be searched for in the right image by searching left of this location along the line, and vice versa (see binocular disparity). Image rectification is an equivalent (and more often used) alternative to perfect camera alignment. Image rectification is usually performed regardless of camera precision, because it may be impractical to perfectly align cameras, and even perfectly aligned cameras may become misaligned over time.
Read more about this topic: Image Rectification
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