An Epipolar Line from a Single Pixel

We exploit the following observation to directly find epipolar lines. For a pixel p in Image A all pixels corresponding to p in Image B are on the same epipolar line, or equivalently the image of the line spanning A’s center and p is an epipolar line in B. Computing the epipolar geometry from feature points between cameras with very different viewpoints is often error prone as an object’s appearance can vary greatly between images. This paper extends earlier work based on the dynamics of the scene which was successful in these cases. The algorithms introduced here for finding corresponding epipolar lines accelerate and robustify previous methods for computing the epipolar geometry in dynamic scenes.