Triangulation from Two Views Revisited: Hartley-Sturm vs. Optimal Correction

Abstract

A higher order scheme is presented for the optimal correction method of Kanatani [5] for triangulation from two views and is compared with the method of Hartley and Sturm [3]. It is pointed out that the epipole is a singu-larity of the Hartley-Sturm method, while the proposed method has no singu-larity. Numerical simulation confirms that both compute identical solutions at other points. However, the proposed method is significantly faster. 1