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Essential Matrix Estimation

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


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.

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

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