Information about a specific point in the original image can be obtained as follows. The information for the corresponding epipolar line can be looked up from the table. The distance to the epipole should be computed and subtracted from the distance for the first pixel of the image row. The image values can easily be interpolated for higher accuracy.

To warp back a complete image a more efficient procedure than a pixel-by-pixel warping can be designed. The image can be reconstructed radially (i.e. radar like). All the pixels between two epipolar lines can then be filled in at once from the information that is available for these epipolar lines. This avoids multiple look-ups in the table. More details on digital image warping can be found in [175].

Marc Pollefeys 2002-11-22