Nonlinear Estimation of the Fundamental Matrix with Only Five Unknowns

作者：de Franca J A^*; Stemmer M R; Franca M B de M

来源：IEEE Latin America Transactions, 2014, 12(4): 783-791.

DOI：10.1109/tla.2014.6868883

• Epipolar Geometry
• Stereo Vision
• Virtual Parallax

Two images captured by an uncalibrated binocular vision system are related by the epipolar geometry. This geometry is completely characterized by a 3 x 3 matrix, called the fundamental matrix, which can be obtained from a set of point correspondences. This paper presents a new nonlinear method to calculate the fundamental matrix. To impose the rank two restriction, the method uses a quite simple parametrization. It has the advantage of having a reduced search space, with only five unknowns. Experimental tests demonstrated that the new method obtain accurate results for a large set of point correspondences. In this case, the quality of the estimated matrix is as good as the obtained with other nonlinear methods. However, the results are obtained at a low computational cost and with rapid convergence.

• 出版日期2014-6