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8-point-algorithm-MATLAB

Code Structure

eightPoint.m

Normalized 8-point algorithm implemented in MATLAB

Usage: E = eightPoint(p, q, K1, K2)
	where:
		E - essential matrix between the image pair
		p - coordinates of matched points in the first image
		q - coordinates of matched points in the second image
		K1 - intrinsic matrix of the camera corresponding to the first view
		K2 - intrinsic matrix for the second view

Note: To compute fundamental matrix, initialize the intrinsic matrix as an identity 3x3 matrix

test_synth

Test of normalized 8-point algorithm in MATLAB

test_epilines

Test of normalized 8-point algorithm on images from KITTI sequence. Epipolar lines of the given image pair will be overlayed onto the images. Below is an example.

Reference

[1] R. Hartley, "In defense of the eight-point algorithm", IEEE Transactions on Pattern Analysis and 
    Machine Intelligence, vol. 19, no. 6, pp. 580-593, 1997.