The fundamental matrix: Theory, algorithms, and stability analysis

The geometry of a pair of cameras, i.e., a stereo rig, is analyzed in detail. The projective nature of the correspondence problem in stereo is clarified and the epipolar geometry is summarized in one 3x3 matrix of rank 2 which is called the Fundamental matrix. The Fundamental matrix is then estimate...

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Bibliographic Details
Published inInternational journal of computer vision Vol. 17; no. 1; pp. 43 - 75
Main Authors Luong, Quan-Tuan, Faugeras, Olivier D.
Format Journal Article
LanguageEnglish
Published Heidelberg Springer 01.01.1996
Subjects
Applied sciences
Artificial intelligence
Computer science; control theory; systems
Exact sciences and technology
Pattern recognition. Digital image processing. Computational geometry
Motion
Computer vision
3D imaging
Stability
Image processing
Theory
Projective identification
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ISSN0920-5691
1573-1405
DOI10.1007/BF00127818

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Summary:The geometry of a pair of cameras, i.e., a stereo rig, is analyzed in detail. The projective nature of the correspondence problem in stereo is clarified and the epipolar geometry is summarized in one 3x3 matrix of rank 2 which is called the Fundamental matrix. The Fundamental matrix is then estimated from point correspondences. Several methods of estimation are analyzed theoretically and compared using synthetic and real data. The importance of the Fundamental matrix in future applications of three-dimensional Computer Vision is also emphasized.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
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ISSN:0920-5691
1573-1405
DOI:10.1007/BF00127818