Fitting and guided matching are repeated until the number of matched points stabilises. Statistical detection of independent movement from a moving camera . Matches are then established from this set of putative correspondences by simultaneously estimating epipolar geometry and matches consistent with this estimated geometry. This basic level of tracking is termed the F Based Tracker. Matching for view triplets.
Correspondences are then determined between all consecutive triplets of frames.
The 3 view matches are drawn from the 2 view matches provided by the F Based Tracker. P. H. S. Torr and D. W. Murray. Statistical detection of independent movement from a moving camera . There is potentially a significant presence of mismatches amongst the initial matches. Correct matches will obey the epipolar geometry.