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Essential Matrix Estimation

version 1.0.0.0 (14.1 KB) by Manolis Lourakis
Compute the essential matrix from a set of corresponding image projections

17 Downloads

Updated 02 Jun 2018

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This code uses a five point algorithm in a RANSAC framework to compute a robust initial estimate of the essential matrix.
That estimate is subsequently refined by parameterizing the essential matrix with six parameters (3 for the Rodrigues vector and 3 for the translation vector) and minimizing the cumulative symmetric distance from epipolar lines for RANSAC inliers with the Levenberg–Marquardt algorithm.
NOTE: The code requires several functions by others, see README.txt for further instructions.

See also https://en.wikipedia.org/wiki/Essential_matrix

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Updates

1.0.0.0

Updated dependencies

1.0.0.0

Updated description

1.0.0.0

Updated description

1.0.0.0

Updated description

1.0.0.0

Updated description

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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