This paper addresses the problem of computing the fundamental matrix which de- scribes a geometric relationship between a pair of stereo images: the epipolar geometry. In the uncalibrated case, epipolar geometry captures all the 3D information available From the scene. It is of central importance for problems such as 3D reconstruction, self- Calibration and feature tracking. Hence, the computation of the fundamental matrix is Of great interest. The existing classical methods~14 use two steps: a linear step followed By a nonlinear one.
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