Rectification of stereo vision is also called rectification of Epipolar Lines. To search the corresponding points rapidly and accurately

the rectification is used to make the epipolar lines of stereo images be parallel to the horizontal direction and to remove the parallax in vertical direction. A robust algorithm is presented to rectify the stereo images based on the traditional projective rectification algorithm. In this method

the projective matrix is calculated by corresponding points and then is optimized by Levenberg-Marquardt and GA algorithm. And meanwhile the RANSAC algorithm is used to avoid the error caused by the noise. Furthermore

a robust optimization function is proposed for the situation with slight movement of two cameras. Experiments with real images show that the method is an effective rectification method.