On the existence of epipolar matrices

DOI10.1007/S11263-016-0949-7MaRDI QIDQ2193532zbMATH OpenOpenAlexFDO

Authors Sameer Agarwal, Hon-Leung Lee, Bernd Sturmfels, Rekha Thomas

Publication date 20 August 2020

Published in International Journal of Computer Vision (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1510.01401

zbMATH Keywords

algebraic geometryepipolar geometrystructure from motion

Mathematics Subject Classification ID

Machine vision and scene understanding (68T45) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05)

Abstract: This paper considers the foundational question of the existence of a fundamental (resp. essential) matrix given $m$ point correspondences in two views. We present a complete answer for the existence of fundamental matrices for any value of $m$. Using examples we disprove the widely held beliefs that fundamental matrices always exist whenever $mleq7$. At the same time, we prove that they exist unconditionally when $mleq5$. Under a mild genericity condition, we show that an essential matrix always exists when $mleq4$. We also characterize the six and seven point configurations in two views for which all matrices satisfying the epipolar constraint have rank at most one.

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Cited in

(11)

• The Chow form of the essential variety in computer vision
• Degeneracy of the intersection of three quadrics
• Necessary and sufficient polynomial constraints on compatible triplets of essential matrices
• Mathematical flaws in the essential matrix theory
• Generalized fundamental matrices as Grassmann tensors
• Condition of intersecting a projective variety with a varying linear subspace
• Galois/Monodromy Groups for Decomposing Minimal Problems in 3D Reconstruction
• Two Views of ℙ ³
• An atlas for the pinhole camera
• The geometry of rank drop in a class of face-splitting matrix products. I
• The Segre determinant

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