A fast MLE-based method for estimating the fundamental matrix

© Copyright 2001 IEEEWe present a novel method for estimating the fundamental matrix, a key problem arising in stereo vision. The method aims to minimise a cost function that is derived from maximum likelihood considerations. The respective minimiser turns out to be significantly more accurate than the familiar algebraic least squares technique. Furthermore, the method is identical in accuracy to a Levenberg-Marquardt minimiser, while proving simpler and fasterChojnacki, W. ; Brooks, M. ; van den Hengel, A. ; Gawley, D