Robust Estimation of Vision Fundamental Matrix Based on Projective Space
MA Yong-zhuang1,2, LIU Wei-jun1
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
马永壮, 刘伟军. 基于射影空间的视觉基础矩阵鲁棒估计[J]. 机器人, 2005, 27(6): 545-549..
MA Yong-zhuang, LIU Wei-jun. Robust Estimation of Vision Fundamental Matrix Based on Projective Space. ROBOT, 2005, 27(6): 545-549..
Abstract：Image noise and outlier always exist in the estimation of fundamental matrix.As a result,a new method is proposed based on projective space.First,a special fundamental matrix is defined including only 5 parameters according to the projective standard basis of three-view geometry.The method can cope with mismatch and search for the best 7 correspondence points to estimate epipolar geometry based on RANSAC(random sampling consensus)technique according to the principle of the minimal re-projection error.Many experiments with both synthetic and real images show that our method can obtain fundamental matrix with high accuracy.
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