High Accuracy Computation of Rank-constrained Fundamental Matrix by Efficient Search

High Accuracy Computation of Rank-constrained Fundamental Matrix by Efficient Search Yasuyuki SUGAYA† and Kenichi KANATANI†† † Department of Information and Computer Sciences, Toyohashi University of Technology, Toyohashi, Aichi, 441–8580 Japan †† Department of Computer Science, Okayama University, Okayama, 700–8530 Japan E-mail: †[email protected], ††[email protected] Abstract A new method is presented for computing the fundamental matrix from point correspondences over two images: its singular value decomposition (SVD) is optimized by the Levenberg-Marquard (LM) method. There is no need for tentative 3-D reconstruction. The accuracy of the solution is compared with the theoretical bound (the KCR lower bound).