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Epipole and Fundamental Matrix Estimation Using the Virtual Parallax Property

Boubakeur Boufama 1, 2 Roger Mohr 1, 2 
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : The paper addresses the problem of computing the fundamental matrix which describes a geometric relationship between a pair of stereo images: the epipolar geometry. We propose a novel method based on virtual parallax. Instead of computing directly the 3x3 fundamental matrix, we compute a homography with one epipole position, and show that this is equivalent to computing the fundamental matrix. Simple equations are derived by reducing the number of parameters to estimate. As a consequence, we obtain an accurate fundamental matrix of rank two with a stable linear computation. Experiments with simulated and real images validate our method and clearly show the improvement over existing methods.
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Boubakeur Boufama, Roger Mohr. Epipole and Fundamental Matrix Estimation Using the Virtual Parallax Property. 5th International Conference on Computer Vision (ICCV '95), Jun 1995, Cambridge, United States. pp.1030--1036, ⟨10.1109/ICCV.1995.466821⟩. ⟨inria-00548391⟩



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