[IPOL discuss] [IPOL announce] new article: Fundamental Matrix of a Stereo Pair, with A Contrario Elimination of Outliers

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Tue May 17 00:36:20 CEST 2016

A new article is available in IPOL: http://www.ipol.im/pub/art/2016/147/

Lionel Moisan, Pierre Moulon, and Pascal Monasse,
Fundamental Matrix of a Stereo Pair, with A Contrario Elimination of 
Image Processing On Line, 6 (2016), pp. 89–113.

In a stereo image pair, the fundamental matrix encodes the rigidity 
constraint of the scene. It combines the internal parameters of both 
cameras (which can be the same) and their relative position and 
orientation. It associates to image points in one view the so-called 
epipolar line in the other view, which is the locus of projection of the 
same 3D point, whose particular position on the straight line is 
determined by its depth. Reducing the correspondence search to a 1D line 
instead of the 2D image is a large benefit enabling the computation of 
the dense 3D scene. The estimation of the matrix depends on at least 
seven pairs of corresponding points in the images. The algorithm 
discarding outliers presented here is a variant of the classical RANSAC 
(RANdom SAmple Consensus) based on a contrario methodology and proposed 
first by Moisan and Stival in 2004 under the name ORSA. The 
distinguishing feature of this algorithm compared to other RANSAC 
variants is that the measure of validity of a set of point pairs is not 
its sheer number, but a combination of this number and the geometric 
precision of the points.

IPOL - Image Processing On Line   - http://ipol.im/

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