Abstract

Previous work on estimating the epipolar geometry oftwo views relies on being able to reliably match featurepoints based on appearance. In this paper, we go onestep further and show that it is feasible to compute boththe epipolar geometry and the correspondences at the sametime based on geometry only. We do this in a globally opti-mal manner. Our approach is based on an efficient branch and bound technique in combination with bipartite matching to solve the correspondence problem. We rely on several recent works to obtain good bounding functions to battle thecombinatorial explosion of possible matchings. It is experi-mentally demonstrated that more difficult cases can be handled and that more inlier correspondences can be obtained by being less restrictive in the matching phase.