Essential Matrix Estimation

バージョン 1.1 (96.5 KB) 作成者: Manolis Lourakis
Compute the essential matrix from a set of corresponding image projections
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更新 2020/1/31

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This code uses a five point algorithm in a RANSAC framework to compute a robust initial estimate of the essential matrix.
That estimate is subsequently refined by parameterizing the essential matrix with six parameters (3 for the Rodrigues vector and 3 for the translation vector) and minimizing the cumulative symmetric distance from epipolar lines for RANSAC inliers with the Levenberg–Marquardt algorithm.
NOTE: The code requires several functions by others, see README.txt for further instructions.

See also https://en.wikipedia.org/wiki/Essential_matrix

引用

Manolis Lourakis (2024). Essential Matrix Estimation (https://www.mathworks.com/matlabcentral/fileexchange/67580-essential-matrix-estimation), MATLAB Central File Exchange. 取得済み .

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作成: R2012b
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バージョン 公開済み リリース ノート
1.1

Minor changes to ransacfitessmatrix.m

Included 3rd party scripts

1.0.0.0

Updated description
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Updated dependencies