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This paper demonstrates the use of the epipolar geometry to estimate the depth (distance) to a point on the object structure in a pair of stereo images. The well established robust method of RANSAC was implemented to calculate the fundamental matrix. The paper discusses how to calculate the disparity, a parallax that exists in the stereo images. This paper is generally in the nature of following up the existing technology, but addresses the stability issue of the RANSAC fundamental matrix algorithm as a stepping stone for stable generation of the dense disparity maps useful for applications.