In defense of the eight-point algorithm
Hartley, R.I.
Pattern Analysis and Machine Intelligence, IEEE Transactions on
Volume 19, Issue 6, Jun 1997 Page(s):580 - 593
Digital Object Identifier 10.1109/34.601246
Summary:The fundamental matrix is a basic tool in the analysis of scenes
taken with two uncalibrated cameras, and the eight-point algorithm is a
frequently cited method for computing the fundamental matrix from a set
of eight or more point matches. It has the advantage of simplicity of
implementation. The prevailing view is, however, that it is extremely
susceptible to noise and hence virtually useless for most purposes. This
paper challenges that view, by showing that by preceding the algorithm
with a very simple normalization (translation and scaling) of the
coordinates of the matched points, results are obtained comparable with
the best iterative algorithms. This improved performance is justified by
theory and verified by extensive experiments on real images
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