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Error Assessment of Fundamental Matrix Parameters

  • Conference paper
  • First Online:
ICCCE 2018 (ICCCE 2018)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 500))

Abstract

Stereo image matching comprises of establishing epipolar geometry based on fundamental matrix estimation. Accuracy of the epipoles is governed by the fundamental matrix. A stereo image pair may contain errors on a systematic and/or random basis which determine the accuracy of the fundamental matrix required for matching. The algorithm used to extract the image pair correspondence, and the method used to estimate the correct parameters of the matrix, controls its accuracy further. A performance analysis of widely adopted matrix estimators over the point pairs found by correspondence determiners is undertaken in this chapter. The methods are modified for the best combination of results, based on the properties of the resulting fundamental matrix. Permutations are analyzed over the possible paths for obtaining the matrix parameters with the expected characteristics, followed by error analysis. Amongst the estimators analyzed, RAndom SAmple Consensus (RANSAC) and M-estimator SAmple Consensus (MSAC) estimators were found to produce the best results over the features detected by the Harris–Stephens corner detector.

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Notes

  1. 1.

    Version: 8.5.0.197613 (R2015a).

  2. 2.

    Primarily developed for solution of the essential matrix.

  3. 3.

    http://www.cs.cmu.edu/afs/cs/project/vision/vasc/idb/www/html_permanent/index.html.

  4. 4.

    Boldfaced values with minimum of \(\sum _{er}\), \(\mu _{er}\), and \(\sigma _d\) are taken at once.

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Author information

Authors and Affiliations

  1. Department of Civil Engineering, Indian Institute of Technology Roorkee, Uttarakhand, India

    Bankim Chandra Yadav & Kamal Jain

  2. CMR College of Engineering and Technology, Hyderabad, India

    Suresh Merugu

Authors
  1. Bankim Chandra Yadav
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  2. Suresh Merugu
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  3. Kamal Jain
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Corresponding author

Correspondence to Bankim Chandra Yadav .

Editor information

Editors and Affiliations

  1. BioAxis DNA Research Centre Pvt. Ltd., Hyderabad, Andhra Pradesh, India

    Amit Kumar

  2. Dynexsys, Sydney, NSW, Australia

    Stefan Mozar

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Yadav, B.C., Merugu, S., Jain, K. (2019). Error Assessment of Fundamental Matrix Parameters. In: Kumar, A., Mozar, S. (eds) ICCCE 2018. ICCCE 2018. Lecture Notes in Electrical Engineering, vol 500. Springer, Singapore. https://doi.org/10.1007/978-981-13-0212-1_16

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  • DOI: https://doi.org/10.1007/978-981-13-0212-1_16

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-13-0211-4

  • Online ISBN: 978-981-13-0212-1

  • eBook Packages: EngineeringEngineering (R0)

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