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 (jaf@jaf.eng.br)1, Marcelo Ricardo Stemmer (marcelo@das.ufsc.br)2, Maria Bernadete de Morais França (mbmorais@uel.br)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  ISSN: 1548-0992 Abstract: 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. Index Terms: Epipolar Geometry, Stereo Vision, Virtual Parallax    Documents that cite this document This function is not implemented yet.