A fast and robust method for fundamental matrix estimation

In this paper, a new fast and robust fundamental matrix estimation method was proposed to solve the problem that the estimation of fundamental matrix leads to lower estimation accuracy and lower stability due to outliers. The method removed outliers into the computation of the fundamental matrix instead of taking it as an independent processing step. The potential error corresponding points were eliminated by iteration to achieve the stable estimation of the fundamental matrix. Then, the epipolar geometry error criterion was used to identify outliers and the estimation results of the fundamental matrix were obtained during each iteration. The iterative process could converge quickly, even if a large number of matched outliers were present, the calculated values would soon become stable. The results of simulation and actual experimental show that the proposed algorithm improves the estimation accuracy greatly, and also ensures similar calculation efficiency at the same time. Compared with the method of M-estimator, it has more than 30% speed improvement, and compared with the MAP-SAC algorithm with higher estimation accuracy, it even achieves more than 4 times. © 2018, Science Press. All right reserved.