In defense of the eight-point algorithm
Hartley, R.I.
Corp. Res. & Dev., Gen. Electr. Co., Schenectady, NY;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Jun 1997
Volume: 19,
Issue: 6
On page(s): 580-593
ISSN: 0162-8828
References Cited: 28
CODEN: ITPIDJ
INSPEC Accession Number: 5625818
Digital Object Identifier: 10.1109/34.601246
Current Version Published: 2002-08-06
Abstract
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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