Consistent fundamental matrix estimation in a quadratic measurement error model arising in motion analysis

Consistent estimators of the rank-deficient fundamental matrix yielding information on the relative orientation of two images in two-view motion analysis are derived. The estimators are derived by minimizing a corrected contrast function in a quadratic measurement error model. In addition, a consistent estimator for the measurement error variance is obtained. Simulation results show the improved accuracy of the newly proposed estimator compared to the ordinary total least-squares estimator. (C) 2002 Elsevier Science B.V. All rights reserved.