Estimação não-linear da matriz fundamental com apenas cinco parâmetros desconhecidos
(Nonlinear Estimation of the Fundamental Matrix with Only Five Unknowns)
José Alexandre de França (email@example.com)1, Marcelo Ricardo Stemmer (firstname.lastname@example.org)2, Maria Bernadete de Morais França (email@example.com)1
1Universidade Estadual de Londrina2Universidade Federal de Santa Catarina
This paper appears in: Revista IEEE América Latina
Publication Date: June 2014
Volume: 12, Issue: 4
Two images captured by an uncalibrated binocular vision system are related by the epipolar geometry. This geometry is completely characterized by a $3 \times 3$ 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.
Epipolar Geometry, Stereo Vision, Virtual Parallax
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