Epipolar geometry estimation for cameras with general disposition configuration

On-line mineral particles size analysis is critical to improve grinding and mill processes control. A method for particles size measurements is proposed by using real time images processing which are taken from cameras set up in an stereoscopic configuration. The method determines the epipolar geometry of the stereoscopic configuration, it is developed to be applied to be three-dimensions on-line particle size analysis in grinding plant conveyors used to feed mineral mills. The method integrates an algorithm to extract from the image its primitive characteristics to a second one which correlates the features of stereo images based on a modified version of the Scott and Longuet-Higgins correlation algorithm. Finally, experimental results are discussed.