New approach to calculating the fundamental matrix

Abstract

The estimation of the fundamental matrix (F) is to determine the epipolar geometry and to establish a geometrical relation between two images of the same scene or elaborate video frames. In the literature, we find many techniques that have been proposed for robust estimations such as RANSAC (random sample consensus), least-squares median (LMeds), and M estimators as exhaustive. This article presents a comparison between the different detectors that are (Harris, FAST, SIFT, and SURF) in terms of detected points number, the number of correct matches and the computation speed of the ‘F’. Our method based first on the extraction of descriptors by the algorithm (SURF) was used in comparison to the other one because of its robustness, then set the threshold of uniqueness to obtain the best points and also normalize these points and rank it according to the weighting function of the different regions at the end of the estimation of the matrix''F'' by the technique of the M-estimator at eight points, to calculate the average error and the speed of the calculation ''F''. The results of the experimental simulation were applied to the real images with different changes of viewpoints, for example (rotation, lighting, and moving object), give a good agreement in terms of the counting speed of the fundamental matrix and the acceptable average error. The results of the simulation show this technique of use in real-time applications