Fast computation of the fundamental matrix for an active stereo vision system

  • Fuxing Li
  • Michael Brady
  • Charles Wiles
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1064)


This paper investigates the problem of computing the fundamental matrix for a class of active stereo vision system, namely with common elevation platform. The fundamental matrix is derived for such a system, and a number of methods are proposed to simplify its computation. Experimental results validate the feasibility of the different methods. These methods are then used in a real application to validate the correctness of the fundamental matrix form for an active stereo system. We demonstrate that typical variations in camera intrinsic parameters do not much affect the epipolar geometry in the image. This motivates us to calibrate the camera intrinsic parameters approximately and then to use the calibration results to compute the epipolar geometry directly in real time.


Mobile Robot Singular Value Decomposition Image Pair Fundamental Matrix Intrinsic Parameter 
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Copyright information

© Springer-Verlag Berlin Heidelberg 1996

Authors and Affiliations

  • Fuxing Li
    • 1
  • Michael Brady
    • 1
  • Charles Wiles
    • 1
  1. 1.Department of Engineering ScienceUniversity of OxfordOxford

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