Fundamental matrix and planar homographies in stereo vision
Qiang He, Chee‐Hung Henry Chu · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2012
We describe the epipolar constraint that specifies the geometry of stereo vision. We consider the 3D structure reconstruction from multiple views through the new perspective of basing the reconstruction from directly estimated planar homographies instead of using techniques that are based on matched point pairs. Planar homography parameters can more accurately extract scene planar surfaces and directly solve for the 3D structure and camera motion parameters. The new method has the advantage that it integrates larger amount of information because the homography parameters are estimated directly from the intensities and not from an abstracted descriptor of the neighborhood. Because it does not rely on a transformation of an entire image region, the method is efficient.