On the probabilistic epipolar geometry

In this paper, we are going to answer the following question: assuming that we have estimates for the epipolar geometry and its uncertainty between two views, how probable it is that a new, independent point pair will satisfy the true epipolar geometry and be, in this sense, a feasible candidate correspondence pair? If we knew the true fundamental matrix, the answer would be trivial but in reality it is not because of estimation errors. So, as a point in the first view is given, we will show that we may compute a probability density for the feasible correspondence locations in the second view that describes the current level of knowledge of the epipolar geometry between the views. We will thus have a point

• Type: Journal
• Year: 2008
• Where: IVC
• Authors: Sami S. Brandt
• Keywords: Epipolar Geometry, Feasible Candidate Correspondence, IVC 2008, True Epipolar Geometry