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Five-Point Fundamental Matrix Estimation for Uncalibrated Cameras
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use the proposed five-point solver instead of the seven- or eight-point solver | Graph-Cut RANSAC · 561 real image pairs, 99% confidence | mean symmetric epipolar error (px): 3.47 vs 7.41 and 16.53 | Helped |
| Use the proposed five-point solver instead of the seven- or eight-point solver | Graph-Cut RANSAC · 561 real image pairs, 99% confidence | RANSAC samples: 5\;560 vs 6\;276 and 7\;055 | Helped |
| Use the proposed five-point solver instead of the seven- or eight-point solver | Graph-Cut RANSAC · 561 real image pairs, 30 FPS limit | mean symmetric epipolar error (px): 4.90 vs 8.33 and 19.51 | Helped |
| Use the proposed five-point solver instead of the seven- or eight-point solver | Graph-Cut RANSAC · 561 real image pairs, 30 FPS limit | RANSAC samples: 52 vs 52 and 93 | Mixed |
| Use the five-point solver instead of the seven-point solver | PEARL multi-motion fitting · AdelaideRMF motion dataset | mean misclassification error (%): 4.9 -> 4.5 | Helped |
| Use the five-point solver instead of the eight-point solver | PEARL multi-motion fitting · AdelaideRMF motion dataset | mean misclassification error (%): 4.5 vs 4.5 | No clear effect |
| Use the five-point solver instead of the seven- or eight-point algorithm | Fundamental matrix estimation · Synthesized data, general camera motion | mean symmetric epipolar distance | No clear effect |
| Use the five-point solver instead of the seven- or eight-point algorithm | Fundamental matrix estimation · Synthesized data, pure sideways motion | mean symmetric epipolar distance | Helped |
| Use the five-point solver instead of the seven-point algorithm | Fundamental matrix estimation · Synthesized data, forward motion with noise σ ≤ 0.5 | mean symmetric epipolar distance: 0.5 | Helped |
| Use the seven-point algorithm instead of the five-point solver | Fundamental matrix estimation · Synthesized data, forward motion with noise σ > 0.5 | mean symmetric epipolar distance: 0.5 | Helped |
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