Characterizing the Uncertainty of the Fundamental Matrix

Olivier Faugeras (1) , Zhengyou Zhang , Cyril Zeller , Gabriella Csurka

1 ROBOTVIS - Computer Vision and Robotics

This paper deals with the analysis of the uncertainty of the fundamental matrix. The basic idea is to compute the fundamental matrix and its uncertainty in the same time. We shall show two different methods. The first one is a statistical approach. As in all statistical methods the precision of the results depends on the number of analyzed samples. This means that we can always improve our results if we increase the number of samples but this process is very time consuming. We propose a much simpler method which gives results which are close to the results of the statistical methods. At the end of paper we shall show some experimental results obtained with synthetic and real data.

Mots clés: EPIPOLAR GEOMETRY; FUNDAMENTAL MATRIX; UNCERTAINTY; COVARIANCE MATRIX

Domaines: Autre [cs.OH]

Olivier Faugeras, Zhengyou Zhang, Cyril Zeller, Gabriella Csurka. Characterizing the Uncertainty of the Fundamental Matrix. RR-2560, INRIA. 1995. ⟨inria-00074121⟩