StereoVision_1 - Nanyang Technological University
StereoVision_1 - Nanyang Technological University
StereoVision_1 - Nanyang Technological University
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Estimating Fundamental Matrix<br />
⎡ xl1x<br />
⎢xl<br />
2xr<br />
2<br />
⎢<br />
⎢<br />
⎣ xl8x<br />
r<br />
Using 8 known correspondences, we get<br />
r1<br />
l8<br />
r8<br />
School of Computer Engineering<br />
<strong>Nanyang</strong> <strong>Technological</strong> <strong>University</strong><br />
8<br />
xl1y<br />
x y<br />
l 2<br />
x<br />
y<br />
r1<br />
r 2<br />
x<br />
x<br />
x<br />
l1<br />
l 2<br />
l8<br />
y<br />
y<br />
y<br />
l1<br />
l 2<br />
l8<br />
x<br />
x<br />
M<br />
x<br />
r1<br />
r 2<br />
r8<br />
B<br />
8 x 8<br />
y<br />
y<br />
y<br />
l1<br />
l 2<br />
l8<br />
y<br />
y<br />
r1<br />
r 2<br />
r8<br />
l1<br />
l 2<br />
l8<br />
SC437<br />
Computer Vision and Image Processing<br />
y<br />
y<br />
y<br />
y<br />
x<br />
x<br />
r1<br />
x<br />
r 2<br />
r8<br />
y<br />
y<br />
r1<br />
y<br />
r 2<br />
r8<br />
⎡ f<br />
⎢ f<br />
⎢<br />
⎤ f<br />
⎢<br />
⎥<br />
⎢ f<br />
⎥<br />
⎢ f<br />
⎥<br />
⎦ ⎢ f<br />
⎢ f<br />
⎢<br />
⎣ f<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
8<br />
⎤<br />
⎥<br />
⎥<br />
⎥<br />
⎥<br />
⎥<br />
⎥<br />
⎥<br />
⎥<br />
⎦<br />
f<br />
8 x 1<br />
⎡−1⎤<br />
⎢−1⎥<br />
⎢−1⎥<br />
⎢ ⎥<br />
=<br />
−1<br />
⎢−1⎥<br />
⎢−1⎥<br />
⎢−1⎥<br />
⎢<br />
⎣−1⎥<br />
⎦<br />
TJ Cham<br />
2002-03 / S2