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 (, Marcelo Ricardo Stemmer (, Maria Bernadete de Morais França (

1Universidade Estadual de Londrina
2Universidade Federal de Santa Catarina

This paper appears in: Revista IEEE América Latina

Publication Date: June 2014
Volume: 12,   Issue: 4 
ISSN: 1548-0992

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.

[PDF Full-Text (792)]