Essential Matrix Estimation

Compute the essential matrix from a set of corresponding image projections

430 Downloads

Updated 31 Jan 2020

View License

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

Cite As

Manolis Lourakis (2023). Essential Matrix Estimation (https://www.mathworks.com/matlabcentral/fileexchange/67580-essential-matrix-estimation), MATLAB Central File Exchange. Retrieved .

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

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!
Version Published Release Notes
1.1

Minor changes to ransacfitessmatrix.m

Included 3rd party scripts

1.0.0.0

Updated description
Updated description
Updated description
Updated description
Updated dependencies