Patent ID: 7251356

Claim:
A method for estimation of a fundamental matrix by selecting a set of correspondence points in the camera images to obtain the relative geometrical information for the two cameras in implementing a stereo vision, the method comprising the steps of: (a) selecting a predetermined number of random correspondence points, and then obtaining an initial fundamental matrix by linear method; (b) calculating an error of each correspondence point from the initial fundamental matrix, and obtaining the median value of the set of the calculated errors; (c) iterating for predetermined times the steps of (a) and (b), and storing the initial fundamental matrix and the median value according to the initial fundamental matrix for each iteration; (d) selecting the least median value and the larger median value ranged within about 10% of the least median value among the stored median value, and corresponding fundamental matrix; (e) presetting a threshold value corresponding to the respective selected median value, and obtaining inlier sets corresponding to the respective median value using the corresponding threshold value and the initial fundamental matrix; (f) selecting the inlier set wherein the standard deviation of the distribution of the inlier set is minimum; and (g) obtaining the fundamental matrix using the selected of inlier set.