A GA-BASED APPROACH FOR EPIPOLAR GEOMETRY ESTIMATION

In this paper, a genetic algorithm (GA)-based approach to estimate the fundamental matrix is presented. The aim of the proposed GA-based algorithm is to reduce the effect of noise and outliers in the corresponding points which affect the accuracy of the estimated fundamental matrix. Although in the proposed approach the GA is allowed to select the significant among all detected points, on the average half of the matched points have been determined to give optimum estimation of the fundamental matrix. Experiments with synthetic and real data show that the proposed approach is accurate especially in the presence of a high percentage of outliers. The proposed GA can always obtain good results in both high and low detailed images. Even for low detailed images which have a small number of matched points available to estimate the fundamental matrix, the proposed GA outperformed other methods.