基础矩阵计算中共面点冗余度问题的研究

Redundancy of coplanar points in estimating the fundamental matrix

在研究对极几何和透视投影不变量的基础上，提出并解决了在计算基础矩阵（Ｆ矩阵）时的共面点冗余性问题，即一个平面上至多有５个点可用作匹配点，其余的点均为冗余点，并从理论上证明了其存在性．最后通过去除冗余点提高了Ｆ矩阵的精度和稳定性．

The redundancy and its settlement of coplanar points in computing the fundamental matrix (F) is developed, based on the contribution of epipolar geometry and perspective geometric invariants. The redundancy means that, on a plane, there are at most five points which can be used as matching points to estimate the F, and the others are the redundant points, whose existence is proved theoretically. Finally, the accuracy and stability of F are improved by eliminating the redundant points.