:
Computing : I Number of Correspondences
Given perfect image points (no noise) in general position.
Each point correspondence
generates one constraint on
.
This can be rearranged as where
is a
measurement matrix, and
is the fundamental matrix represented as a 9-vector.
Suppose the 9-vectors
and
, corresponding to the matrices
and
respectively, span the null-space. Then, up to
scale, there is a one-parameter
family of matrices:
. Imposing
which is a cubic in , and thus has
either one or three real solutions.