Robust method for estimating the fundamental matrix
一个基本矩阵的鲁棒估计算法

After analyzing the characteristics of methods for computing fundamental matrix,a method was presented for robustly estimating fundamental matrix with three improvement.The data set was discriminated into inliers or outliers by minimizing reprojection error.The computation of one order approximation for reprojection error was given.To avoid local minimum,LM algorithm was adopted in last steps of RANSAC(RANdom SAmpling Consensus) algorithm.A very good estimation of fundamental matrix was obtained and the reprojection error was smaller.Experiment results on synthetic and real images demonstrated that the new algorithm is valid and robust.