Determining the Epipolar Geometry and its Uncertainty: A Review

Zhengyou Zhang 1
1 ROBOTVIS - Computer Vision and Robotics
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Two images of a single scene/object are related by the epipolar geometry, which can be described by a 3x3 singular matrix called the essential matrix if images' internal parameters are known, or the fundamental matrix otherwise. It captures all geometric information contained in two images, and its determination is very important in many applications such as scene modeling and vehicle navigation. This paper gives an introduction to the epipolar geometry, and provides a complete review of the current techniques for estimating the fundamental matrix and its uncertainty. A well-founded measure is proposed to compare these techniques. Projective reconstruction is also reviewed. The softwares which we have developed for this review are available on the Internet.
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https://hal.inria.fr/inria-00073771
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Submitted on : Wednesday, May 24, 2006 - 1:43:27 PM
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  • HAL Id : inria-00073771, version 1

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Zhengyou Zhang. Determining the Epipolar Geometry and its Uncertainty: A Review. RR-2927, INRIA. 1996. ⟨inria-00073771⟩

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