Compact Fundamental Matrix Computation

概要

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A very compact algorithm is presented for fundamental matrix computation from point correspondences over two images. The computation is based on the maximum likelihood (ML) principle, minimizing the reprojection error. The rank constraint is incorporated by the EFNS procedure. Although our algorithm produces the same solution as all existing ML-based methods, it is probably the most practical of all, being small and simple. By numerical experiments, we confirm that our algorithm behaves as expected.