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Nonlinear Estimation of the Fundamental Matrix with Minimal Parameters
March 2004 (vol. 26 no. 3)
pp. 426-432
Peter Sturm, IEEE Computer Society

Abstract—The purpose of this paper is to give a very simple method for nonlinearly estimating the fundamental matrix using the minimum number of seven parameters. Instead of minimally parameterizing it, we rather update what we call its orthonormal representation, which is based on its singular value decomposition. We show how this method can be used for efficient bundle adjustment of point features seen in two views. Experiments on simulated and real data show that this implementation performs better than others in terms of computational cost, i.e., convergence is faster, although methods based on minimal parameters are more likely to fall into local minima than methods based on redundant parameters.

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Index Terms:
Structure-from-motion, bundle adjustment, minimal parameterization, fundamental matrix.
Citation:
Adrien Bartoli, Peter Sturm, "Nonlinear Estimation of the Fundamental Matrix with Minimal Parameters," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 26, no. 3, pp. 426-432, March 2004, doi:10.1109/TPAMI.2004.1262342
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