Robust Estimation Algorithm of Epipolar Geometry Through Hough Transform
Dawei Li · 2008
The paper begined with analyzing the characters and functions of the fundamental matrix,and firstly proved that if there was more than matching points three in a single two-dimension line,the extra points wouldl be regarded as redundant points in theory.Those points were not used as matching points.Then in order to eliminate those collinear redundant points at the same time of establishing the corresponding relationship among those matching points,especially on images which there were many line features,the author introduced the Hough transform algorithm.Finally,the experiments showed the average epipolar distance and residual errors of the fundamental matrix which was estimated with the improved algorithm in which the redundant points were eliminated was less than that of using the previous algorithm.The accuracy and robustness of estimation were improved evidently.