对极几何估计的鲁棒性新算法

以８参数模型的Ｆ矩阵为基础，深入研究的Ｆ阵的稳定性求解中的若干问题，将求解对极点的问题归结为求解二元六次非线性方程的最优解问题，并将所求最优解作为进上步计算的最佳修造对极点，最后以余差最小准则获得Ｆ阵的全局最优解，实验结果表明，该方法不但使对极点的稳定性有较大提高，也能高精度地估计祟Ｆ阵。

A New Robust Algorithm for Epipolar Geometry Estimation

Based on the eight parameter model of F matrix, some problems on robust estimating fundamental matrix are studied. Unlike traditional method, such as, 6 point synthetic algorithm, the Least Square algorithm and the Least Median of Squares method, an optimization problem of nonlinear equation for solving epipoles is generalized in this paper. The optimal solutions of epipoles are the first rank candidate epipoles for further calculation, and the F matrix with minimal value of residual errors are regarded as the global optimal solution. Experimental results show the presented algorithm performs in terms of robustness, and an accurate fundamental matrix and two stable epipoles could be found.