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Revisiting Hartley's normalized eight-point algorithm

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2 Author(s)
Chojnacki, W. ; Sch. of Comput. Sci., Adelaide Univ., SA, Australia ; Brooks, M.J.

Hartley's eight-point algorithm has maintained an important place in computer vision, notably as a means of providing an initial value of the fundamental matrix for use in iterative estimation methods. In this paper, a novel explanation is given for the improvement in performance of the eight-point algorithm that results from using normalized data. It is first established that the normalized algorithm acts to minimize a specific cost function. It is then shown that this cost function I!; statistically better founded than the cost function associated with the nonnormalized algorithm. This augments the original argument that improved performance is due to the better conditioning of a pivotal matrix. Experimental results are given that support the adopted approach. This work continues a wider effort to place a variety of estimation techniques within a coherent framework.

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:25 ,  Issue: 9 )