StereoVision_1 - Nanyang Technological University

Estimating Fundamental Matrix
The Fundamental Matrix equation in full
We can rewrite as
School of Computer Engineering
Nanyang Technological University
1
[ x y 1]
f f f y = 0
l
l
⎡ f
⎢
⎢
⎣ f
4
7
f
f
2
5
8
1
SC437
Computer Vision and Image Processing
f
3
6
⎤ ⎡xr
⎤
⎥ ⎢ ⎥ r
⎥ ⎢ 1 ⎥
⎦ ⎣ ⎦
4
[ x x y x y x y y y x y ] ⎢ ⎥ = −1
xl r l r l l r l r l r r
…
known values from
1 correspondence
unknown values
to be computed
:
⎡
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎣
f
f
f
f
f
f
f
f
1
2
3
5
6
7
8
⎤
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎦
TJ Cham
2002-03 / S2