Fundamental matrix

[Faugeras ’92, Hartley ’92 ]

• Algebraic representation of epipolar geometry

Step 1: X on a plane p Step 2: epipolar line l’

F • 3x3, Rank 2, det(F)=0 • Linear sol. – 8 corr. Points (unique) • Nonlinear sol. – 7 corr. points (3sol.) • Very sensitive to noise & outliers