Projective rectification from the fundamental matrix

This paper describes a direct, self-contained method for planar image rectification of stereo pairs. The method is based solely on an examination of the Fundamental matrix, where an improved method is given for the derivation of two projective transformations that horizontally align all the epipolar projections. A novel approach is proposed to uniquely optimise each transform in order to minimise perspective distortions. This ensures the rectified images resemble the original images as closely as possible. Detailed results show that the rectification precision exactly matches the estimation error of the Fundamental matrix. In tests the remaining perspective distortion offers on average less than one percent viewpoint distortion. Both these factors offer superior robustness and performance compared with existing techniques

Censoring, Factorizations, and Spectral Analysis for Transition Matrices with Block-Repeating Entries

In this paper, we use the Markov chain censoring technique to study infinite state Markov chains whose transition matrices possess block-repeating entries. We demonstrate that a number of important probabilistic measures are invariant under censoring. Informally speaking, these measures involve first passage times or expected numbers of visits to certain levels where other levels are taboo;they are closely related to the so-called fundamental matrix of the Markov chain which is also studied here. Factorization theorems for the characteristic equation of the blocks of the transition matrix are obtained. Necessary and sufficient conditions are derived for such a Markov chain to be positive recurrent, null recurrent, or transient based either on spectral analysis, or on a property of the fundamental matrix. Explicit expressions are obtained for key probabilistic measures, including the stationary probability vector and the fundamental matrix, which could be potentially used to develop various recursivealgorithms for computing these measures.block-Toeplitz transition matrices, factorization of characteristic functions, spectral analysis, fundamental matrix, conditions of recurrence and transience.

noRANSAC for fundamental matrix estimation

The estimation of the fundamental matrix from a set of corresponding points is a relevant topic in epipolar stereo geometry [10]. Due to the high amount of outliers between the matches, RANSAC-based approaches [7, 13, 29] have been used to obtain the fundamental matrix. In this paper two new contributes are presented: a new normalized epipolar error measure which takes into account the shape of the features used as matches [17] and a new strategy to compare fundamental matrices. The proposed error measure gives good results and it does not depend on the image scale. Moreover, the new evaluation strategy describes a valid tool to compare different RANSAC-based methods because it does not rely on the inlier ratio, which could not correspond to the best allowable fundamental matrix estimated model, but it makes use of a reference ground truth fundamental matrix obtained by a set of corresponding points given by the use