360度立体中单轴视差的球面到ERP极线校正
Spherical-to-ERP Epipolar Rectification for Single-Axis Disparity in 360 Stereo
AI总结：
针对球面立体图像中极线对应呈曲线导致二维位移的问题，采用球面到等距柱状投影预处理将极线拉直恢复单轴视差，结合RAFT+EACS框架实现实时高精度视差估计。
摘要：
全向立体图像提供全环绕感知，但违反了经典视差估计的几何假设：在球面或鱼眼视图中，极线对应遵循弯曲的大圆路径，产生二维位移，在几何校正前不能视为单轴视差。在这项工作中，我们采用标准的球面到等距柱状投影作为预处理步骤，该步骤拉直极线曲线并恢复一维视差结构——对于左右配置为水平，对于上下配置为垂直。基于我们之前引入的RAFT+极线对齐通道选择框架（最初为直线和ERP立体开发），我们检验了当输入来自球面立体图像时，相同的模块化流水线是否保持准确。经过ERP投影后，通过仅保留基线对齐的流动分量，将RAFT的密集光流简化为视差。在合成鱼眼立体数据集上的实验表明，这种球面到ERP到RAFT+EACS流水线能够以实时速度生成准确、平滑且结构一致的视差图。这些发现证实，建立的ERP预处理可以与我们之前的RAFT+EACS方法有效结合，从而实现对球面立体的实用、可解释且高效的视差估计，为将传统立体流水线扩展到360度成像提供了一条直接途径。
英文摘要：
Omnidirectional stereo images provide full-surround perception but violate the geometric assumptions of classical disparity estimation: in spherical or fisheye views, epipolar correspondences follow curved great-circle paths, producing two-dimensional displacements that cannot be treated as single-axis disparity before geometric rectification. In this work, we adopt a standard spherical-to-equirectangular (ERP) projection as a preprocessing step, which straightens epipolar curves and restores a one-dimensional disparity structure - horizontal for left-right rigs and vertical for top-bottom rigs. Building on our previously introduced RAFT + Epipolar-Aligned Channel Selection (EACS) framework, originally developed for rectilinear and ERP stereo, we examine whether the same modular pipeline remains accurate when the input originates from spherical stereo imagery. After ERP projection, dense optical flow from RAFT is reduced to disparity by retaining only the baseline-aligned flow component. Experiments on synthetic fisheye stereo datasets show that this spherical-to-ERP-to-RAFT+EACS pipeline produces accurate, smooth, and structurally consistent disparity maps at real-time speed. These findings confirm that established ERP preprocessing can be effectively combined with our earlier RAFT+EACS method to enable practical, interpretable, and efficient disparity estimation from spherical stereo, providing a straightforward pathway for extending conventional stereo pipelines to 360 imaging.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
