Computation of the epipolar geometry of slightly overlapping views
Roman Pflugfelder, Horst Bischof · 2006
This paper proposes a method to compute the epipolar geometry from slightly overlapping views. Instead of using point correspondences alone, we additionally use the infinite homography. Interestingly, the infinite homogra- phy can be determined from line segments when we have the same alignment of the scene in both views. Thereby, van- ishing points and the intrinsic camera parameters are com- puted when we have a Manhattan world scene and assume cameras with square pixels. All assumptions are not too restrictive and occur frequently. The infinite homography and one of the epipoles determine the fundamental matrix. The paper demonstrates a robust and automatic detection of vanishing points and a simultaneous calibration. It further presents a simple solution to compute the epipoles from at least two point correspondences without requiring points in general position. Experiments on real images confirm the applicability of the idea.