How to compute fundamental matrix using a stereo pair?

Question

referring to the question about fundamental matrix,If I had a stereo pair (2 jpeg) and I want to apply Peter Kovesi's or Zisserman's function on order to obtain F, how can I retrieve P1 and P2 ? these two matrices are 3x4 matrices from the two images, but I don't know how they are related... is it right if I take a random 3x4 matrix from grayscale first image and the corrispondent 3x4 matrix in the second image obtained from the first one by using some matching technique such as correlation ? and if it is, do you think that a 3x4 matrix is not detailed enought?

Those 3x4 matrices are projection matrices, not F. F is typically used to retrieve E which is used to rectify a stereo pair or figure out the rotation and translation of the camera up to a scaling factor. You have to tell first what do you want to do, and why you use a stereo pair. — Vlad, Mar 10 '14 at 14:17

score 2 · Answer 1 · answered Dec 30 '13 at 16:15

2

The Computer Vision System Toolbox includes a function estimateFundamentalMatrix that does what you need. Check out this example of how to estimate the fundamental matrix, and then use it for stereo rectification.

answered Dec 30 '13 at 16:15

Dima

38,860
14
75
115

score 1 · Answer 2 · answered Dec 30 '13 at 18:13

1

Well, most of your doubts would be clarified once you go through Camera Calibration and 3D Reconstruction.

answered Dec 30 '13 at 18:13

Richie

4,404
2
17
22

score 0 · Answer 3 · answered Jan 05 '14 at 09:06

0

You should not try to construct F from C0 and C1, you should rather use feature matching between the two images and compute F from the matched key points.

You can then set C0 to be eye and compute C1 from F

answered Jan 05 '14 at 09:06

Rosa Gronchi

1,828
15
25

How to compute fundamental matrix using a stereo pair?

3 Answers3