Reviewing a Derivation of the Essential and Fundamental Matrices Based on Homogeneous Coordinates
Tayeb Basta · 2012
Abstract--The objective of most stereo vision work has been to extract the 3D shape of a world scene from two of its images which have been captured from two different standpoints. One of the major challenges in computer vision has been the elaboration of methods, which do not depend on scene structure, to compute the relationship between pairs of corresponding points from the two images. The development of the essential matrix and its optimization to the fundamental matrix were two landmarks in the solution of this problem. This paper reviews one of the methods proposed to derive the essential and fundamental matrices. Such a method is based on the theory of a homogeneous point lying on a line that lies on two other points.