METHOD FOR OBTAINING FUNDAMENTAL MATRIX WHEN EMBODYING STEREO-IMAGE TO SELECT A CORRESPONDENCE POINT SET

摘要

PURPOSE: A method for obtaining a fundamental matrix when embodying a stereo-image is provided to select a correspondence point set so that correspondence points are uniformly distributed in the entire image. CONSTITUTION: Certain correspondence points are selected, and an initial fundamental matrix is obtained by a linear method(S10). Errors of the respective correspondence points are calculated from the initial fundamental matrix, and a middle value of the calculated errors is obtained(S20). Respective basic fundamental matrixes and middle values according to the respective basic fundamental matrixes are stored(S30,S40). The least middle value, a different middle value within a certain range of the least middle value, and initial fundamental matrixes corresponding to the least middle value and the different middle value are selected(S50). Threshold values corresponding to the selected middle values are set up from the selected middle values, and inlier sets corresponding to the respective middle values are obtained using the corresponding threshold values and the corresponding initial fundamental matrixes(S60). An inlier set with the least standard deviation with respect to the distribution of the inlier sets is selected between the obtained inlier sets(S70). A fundamental matrix is obtained using the selected inlier set(S80).