Ageometricalanalysisbasedalgorithmisproposedtoachievethestereomatchingofasingle-lensprismbasedstereovisionsystem.Bysettingthemulti-faceprisminfrontalpositionofthestaticCCD(CM-140MCL)camera,equivalentstereoimageswithdifferentorientationsarecapturedsynchronouslybyvirtualcameraswhicharedefinedbytwoboundarylines:theopticalaxisandCCDcamerafieldofviewboundary.Subsequently,thegeometricalrelationshipbetweenthe2Dstereoimagesandcorresponding3Dsceneisestablishedbyemployingtwofundamentals:raysketchinginwhichallthepertinentpoints,lines,andplanesareexpressedinthe3Dcameracoordinatesandtheruleofrefraction.Landingonthisrelationship,theepipolargeometryisthusobtainedbyfittingasetofcorrespondingcandidatepointsandthereafter,stereomatchingoftheprismbasedstereovisionsystemisobtained.Moreover,theuniquegeometricalpropertiesoftheimagingsystemallowtheproposedmethodfreefromthecomplicatedcameracalibrationproceduresandtobeeasilygeneralizedfrombinocularandtri-oculartomulti-ocularstereovisionsystems.Theperformanceofthealgorithmispresentedthroughtheexperimentsonthebinocularimagingsystemandthecomparisonwithaconventionalprojectionmethoddemonstratestheefficientassessmentofournovelcontributions.
