A General Expression of the Fundamental Matrix for Both Perspective and Affine Cameras
نویسندگان
چکیده
This paper addresses the recovery of structure and motion from two uncalibrated images of a scene under ful l perspective or under affine projection. Epipolar geometry, projective reconstruction, and affine reconstruction are elaborated in a way such that everyone having knowledge of linear algebra can understand the discussion without difficulty. A general expression of the fundamental matr ix is derived which is valid for any projection model without lens distortion (including ful l perspective and affine camera). A new technique for affine reconstruct ion from two affine images is developed, which consists in first estimating the affine epipolar geometry and then performing a triangulation for each point match wi th respect to an implicit common affine basis. This technique is very efficient.
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