Computing the uncertainty of the 8 point algorithm for fundamental matrix estimation

Frédéric Sur 1 Nicolas Noury 1 Marie-Odile Berger 1
1 MAGRIT - Visual Augmentation of Complex Environments
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : Fundamental matrix estimation is difficult since it is often based on correspondences that are spoilt by noise and outliers. Outliers must be thrown out via robust statistics, and noise gives uncertainty. In this article we provide a closed-form formula for the uncertainty of the so-called 8 point algorithm, which is a basic tool for fundamental matrix estimation via robust methods. As an application, we modify a well established robust algorithm accordingly, leading to a new criterion to recover point correspondences under epipolar constraint, balanced by the uncertainty of the estimation.
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Mark Everingham and Chris Needham and Roberto Fraile. 19th British Machine Vision Conference - BMVC 2008, Sep 2008, Leeds, United Kingdom. pp.10, 2008, Electronic Proceedings of the 19th British Machine Vision Conferencee 2008 (Leeds, September 2008). 〈http://www.comp.leeds.ac.uk/bmvc2008/proceedings/papers/269.pdf〉
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Frédéric Sur, Nicolas Noury, Marie-Odile Berger. Computing the uncertainty of the 8 point algorithm for fundamental matrix estimation. Mark Everingham and Chris Needham and Roberto Fraile. 19th British Machine Vision Conference - BMVC 2008, Sep 2008, Leeds, United Kingdom. pp.10, 2008, Electronic Proceedings of the 19th British Machine Vision Conferencee 2008 (Leeds, September 2008). 〈http://www.comp.leeds.ac.uk/bmvc2008/proceedings/papers/269.pdf〉. 〈inria-00319704〉

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