Consistent fundamental matrix estimation in a quadratic measurement error model arising in motion analysis

Authors:
A. Kukush;I. Markovsky;S. Van Huffel
Affiliations:
Dept. Elektrotechniek, ESAT-SCD-SISTA, K.U. Leuven, Kasteelpark Arenberg 10, B-3001 Leuven-Heverlee, Belgium;Dept. Elektrotechniek, ESAT-SCD-SISTA, K.U. Leuven, Kasteelpark Arenberg 10, B-3001 Leuven-Heverlee, Belgium;Dept. Elektrotechniek, ESAT-SCD-SISTA, K.U. Leuven, Kasteelpark Arenberg 10, B-3001 Leuven-Heverlee, Belgium
Venue:
Computational Statistics & Data Analysis
Year:
2002

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Abstract

Consistent estimators of the rank-deficient fundamental matrix yielding information on the relative orientation of two images in two-view motion analysis are derived. The estimators are derived by minimizing a corrected contrast function in a quadratic measurement error model. In addition, a consistent estimator for the measurement error variance is obtained. Simulation results show the improved accuracy of the newly proposed estimator compared to the ordinary total least-squares estimator.