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Revisiting Hartley's Normalized Eight-Point Algorithm
September 2003 (vol. 25 no. 9)
pp. 1172-1177
ASCII Text
x 
 
Wojciech Chojnacki, Michael J. Brooks, Anton van den Hengel, Darren Gawley, "Revisiting Hartley's Normalized Eight-Point Algorithm," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 25, no. 9, pp. 1172-1177, September, 2003.
 
 
BibTex
x
 
@article{ 10.1109/TPAMI.2003.1227992,
author = {Wojciech Chojnacki and Michael J. Brooks and Anton van den Hengel and Darren Gawley},
title = {Revisiting Hartley's Normalized Eight-Point Algorithm},
journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence},
volume = {25},
number = {9},
issn = {0162-8828},
year = {2003},
pages = {1172-1177},
doi = {http://doi.ieeecomputersociety.org/10.1109/TPAMI.2003.1227992},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - JOUR
JO - IEEE Transactions on Pattern Analysis and Machine Intelligence
TI - Revisiting Hartley's Normalized Eight-Point Algorithm
IS - 9
SN - 0162-8828
SP1172
EP1177
EPD - 1172-1177
A1 - Wojciech Chojnacki,
A1 - Michael J. Brooks,
A1 - Anton van den Hengel,
A1 - Darren Gawley,
PY - 2003
KW - Epipolar equation
KW - fundamental matrix
KW - eight-point algorithm
KW - data normalization.
VL - 25
JA - IEEE Transactions on Pattern Analysis and Machine Intelligence
ER -
 

Abstract—Hartley's eight-point algorithm has maintained an important place in computer vision, notably as a means of providing an initial value of the fundamental matrix for use in iterative estimation methods. In this paper, a novel explanation is given for the improvement in performance of the eight-point algorithm that results from using normalized data. It is first established that the normalized algorithm acts to minimize a specific cost function. It is then shown that this cost function is statistically better founded than the cost function associated with the nonnormalized algorithm. This augments the original argument that improved performance is due to the better conditioning of a pivotal matrix. Experimental results are given that support the adopted approach. This work continues a wider effort to place a variety of estimation techniques within a coherent framework.

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Index Terms:
Epipolar equation, fundamental matrix, eight-point algorithm, data normalization.
Citation:
Wojciech Chojnacki, Michael J. Brooks, Anton van den Hengel, Darren Gawley, "Revisiting Hartley's Normalized Eight-Point Algorithm," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 25, no. 9, pp. 1172-1177, Sept. 2003, doi:10.1109/TPAMI.2003.1227992
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