A novel linear technique to estimate the epipolar geometry

The accurate reconstruction of the 3D scene structure from two different projections and the estimation of the camera scene geometry is of paramount importance in many computer vision tasks. Most of the information about the camera-scene geometry is encapsulated in the fundamental matrix. Estimating the fundamental matrix has been an object of research for many years and continues to be a challenging task in current computer vision systems. While nonlinear iterative approaches have been successful in dealing with the high instability of the underlying problem, their inherent large workload makes these approaches inappropriate for real-time applications. Practical aspects of highly efficient linear methods are studied and a novel low-cost and accurate linear algorithm is introduced. The performance of the proposed approach is assessed by several experiments on real images