Fundamental Matrix Estimation Without Prior Match

Abstract

This paper presents a probabilistic framework for computing correspondences and fundamental matrix in the structure from motion problem. Inspired by Moisan and Stival [1], we suggest using an a contrario model, which is a good answer to threshold problems in the robust filtering context. Contrary to most existing algorithms where perceptual correspondence setting and geometry evaluation are independent steps, the proposed algorithm is an all-in-one approach. We show that it is robust to repeated patterns which are usually difficult to unambiguously match and thus raise many problems in the fundamental matrix estimation.