3D-scene reconstruction from unrectified stereo images using decimation filter

In this paper, we propose the algorithm of reconstruction 3D-scene in which rectification of stereo images is not explicitly performed. For this purpose we use the small fragments which are set directly on the epipolar lines. The errors of image matching are eliminated by special filtering of the matches. The results of experiments on models scenes confirming improvement of the recovery 3D-scenes quality are given.