International Journal of Computer Vision

, Volume 27, Issue 2, pp 161–195

Determining the Epipolar Geometry and its Uncertainty: A Review

  • Zhengyou Zhang

DOI: 10.1023/A:1007941100561

Cite this article as:
Zhang, Z. International Journal of Computer Vision (1998) 27: 161. doi:10.1023/A:1007941100561


Two images of a single scene/object are related by the epipolar geometry, which can be described by a 3×3 singular matrix called the essential matrix if images' internal parameters are known, or the fundamental matrix otherwise. It captures all geometric information contained in two images, and its determination is very important in many applications such as scene modeling and vehicle navigation. This paper gives an introduction to the epipolar geometry, and provides a complete review of the current techniques for estimating the fundamental matrix and its uncertainty. A well-founded measure is proposed to compare these techniques. Projective reconstruction is also reviewed. The software which we have developed for this review is available on the Internet.

epipolar geometryfundamental matrixcalibrationreconstructionparameter estimationrobust techniquesuncertainty characterizationperformance evaluationsoftware

Copyright information

© Kluwer Academic Publishers 1998

Authors and Affiliations

  • Zhengyou Zhang
    • 1
  1. 1.INRIASophia-Antipolis CedexFrance. E-mail