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Essential Matrix Estimation Using Gauss-Newton Iterations on a Manifold

Helmke, Uwe; Hueper, Knut; Lee, Pei Yean; Moore, John


A novel approach for essential matrix estimation is presented, this being a key task in stereo vision processing. We estimate the essential matrix from point correspondences between a stereo image pair, assuming that the internal camera parameters are known. The set of essential matrices forms a smooth manifold, and a suitable cost function can be defined on this manifold such that its minimum is the desired essential matrix. We seek a computationally efficient optimization scheme towards...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Journal article
Source: International Journal of Computer Vision
DOI: 10.1007/s11263-006-0005-0


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