An improved algorithm of fundamental matrix estimation based on epipolar line restriction

Estimating the epipolar geometric relations accurately between un-calibration views is an important key step in some stereo visual applications. Because the precision of fundamental (F) matrix estimation is sensitive to matching errors, this paper proposes an improved F matrix estimation scheme based on epipolar line restriction. Firstly, an improved RANSAC algorithm is proposed to select the optimal relatively subset from a primitive matched point set. Secondly, the different weighted factor is given to each selected couple of matched points according to pre-defined epipolar distance. Finally, a normalized process is performed for the selected matched points, and then the more accurate F matrix is solved. Several experimental results demonstrate that the proposed algorithm can improve the precision of F matrix.