/Epipolar_Geometry

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Epipolar Geometry and 8-Point Algorithm

About

Estimate the Fundamental Matrix of an un-calibrated camera using the 8-Point Algorithm.

Algorithm

  • Normalize the image points for better numerical conditioning.
  • Linear estimation: from the epipolar constraint equation, build the linear system with the entries of F as the unknowns and solve it using SVD
  • Enforce rank-2 condition: the estimated matrix may not necessarily satisfy the rank-2 condition of a Fundamental matrix. Enforce this constraint explicitly using SVD by setting the last singular value to 0
  • Denormalize the estimated fundamental matrix

Input


Output