noRANSAC for fundamental matrix estimation

The estimation of the fundamental matrix from a set of corresponding points is a relevant topic in epipolar stereo geometry [10].Due to the high amount of outliers between the matches, RANSAC-based approaches [7,13,29] have been used to obtain the fundamental matrix.In this paper two new contributes are presented: a new normalized epipolar error measure which takes into account the shape of the features used as matches [17] and a new strategy to compare fundamental matrices.The proposed error measure gives good results and it does not depend on the image scale.Moreover, the new evaluation strategy describes a valid tool to compare different RANSAC-based methods because it does not rely on the inlier ratio, which could not correspond to the best allowable fundamental matrix estimated model, but it makes use of a reference ground truth fundamental matrix obtained by a set of corresponding points given by the user.