Relevant bibliographies by topics / Epipolar constraint

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Epipolar constraint'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Epipolar constraint"

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Xu, Yang, Jun Peng, Wentao Yu, Yuan Fang, and Weirong Liu. "Three-Step Epipolar-Based Visual Servoing for Nonholonomic Robot with FOV Constraint." Journal of Applied Mathematics 2014 (2014): 1–14. http://dx.doi.org/10.1155/2014/638539.

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Image-based visual servoing for nonholonomic mobile robots using epipolar geometry is an efficient technology for visual servoing problem. An improved visual servoing strategy, namely, three-step epipolar-based visual servoing, is developed for the nonholonomic robot in this paper. The proposed strategy can keep the robot meeting FOV constraint without any 3D reconstruction. Moreover, the trajectory planned by this strategy is shorter than the existing strategies. The mobile robot can reach the desired configuration with exponential converge. The control scheme in this paper is divided into three steps. Firstly, by using the difference of epipoles as feedback, the robot rotates to make the current configuration and desired configuration in the same orientation. Then, by using a linear input-output feedback, the epipoles are zeroed so as to align the robot with the goal. Finally, by using the difference of feature points, the robot reaches the desired configuration. Simulation results and experimental results are given to illustrate the effectiveness of the proposed control scheme.
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He, Qing, Ning Wei, Wei Liu, Chao Hu, and Q. H. Meng. "Enhanced Epipolar Constraint for Point Correspondence in Computer Vision System." Applied Mechanics and Materials 58-60 (June 2011): 1871–76. http://dx.doi.org/10.4028/www.scientific.net/amm.58-60.1871.

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Some projective points (2D-points) of the same 3D-point captured by different cameras are called corresponding points. The task of finding the corresponding points is named as point correspondence. It is a essential problem in computer vision, and it paves the way for 3D reconstruction. Epipolar constraint is a widely-used geometric constraint for point correspondence, some methods based on it have been proposed for this task. However, the threshold is set by empirical approach in these methods; this approach is influenced by the parameters of cameras. On the other hand, epipolar constraint is not a sufficient condition for this task; this will result in the mismatch for two 2D-points. According to the rule of Propagation Uncertainty and practical situation of the computer vision system, this paper introduces the enhanced epipolar constraint comprising normalized coplanar constraint, nonparallel constraint and interval constraint. The normalized coplanar constraint provides a simple and rational method to set the threshold of epipolar constraint; the nonparallel constraint and interval constraint can reduce the occasion of mismatch.
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Wei, Ning, Chao Hu, Qing He, Wei Liu, and Q. H. Meng. "Angle Constraints for Point Correspondence in Multi-Ocular Vision." Applied Mechanics and Materials 58-60 (June 2011): 1384–89. http://dx.doi.org/10.4028/www.scientific.net/amm.58-60.1384.

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Geometric constraints have an essential significance for point correspondence in computer vision systems. Traditional epipolar constraint in bi-ocular system faces two main problems: threshold-setting and corresponding ambiguities. This paper describes a collinear epipolar plane model and proposes a novel criterion for bi-ocular corresponding which allows setting a uniform threshold. Furthermore, it proposes the concept tri-correspondence units, proves their specificity against ambiguities, and discusses the merging of them.
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Hosseinyalamdary, S., and A. Yilmaz. "Motion Vector Field Estimation Using Brightness Constancy Assumption and Epipolar Geometry Constraint." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences II-1 (November 7, 2014): 9–16. http://dx.doi.org/10.5194/isprsannals-ii-1-9-2014.

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In most Photogrammetry and computer vision tasks, finding the corresponding points among images is required. Among many, the Lucas-Kanade optical flow estimation has been employed for tracking interest points as well as motion vector field estimation. This paper uses the IMU measurements to reconstruct the epipolar geometry and it integrates the epipolar geometry constraint with the brightness constancy assumption in the Lucas-Kanade method. The proposed method has been tested using the KITTI dataset. The results show the improvement in motion vector field estimation in comparison to the Lucas-Kanade optical flow estimation. The same approach has been used in the KLT tracker and it has been shown that using epipolar geometry constraint can improve the KLT tracker. It is recommended that the epipolar geometry constraint is used in advanced variational optical flow estimation methods.
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Sun, Xue Qi, Ming Li Dong, and Jun Wang. "Matching Algorithm of Binocular Dynamic Vision Measurement." Applied Mechanics and Materials 278-280 (January 2013): 764–70. http://dx.doi.org/10.4028/www.scientific.net/amm.278-280.764.

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In order to realize the correspondence of feature points in the binocular dynamic vision measurement system, the two homologous images matching problem in the paper is studied. First of all, a method of strong space resection. The strong space resection optimizes the elements of exterior orientation, improves the precision, so as to improve the calculating precision of epipolar line. Secondly, an algorithm of multiple restriction matching which is for two homologous images matching of feature points has been introduced. This algorithm based on epipolar line constrain, increases the uniqueness constraint and double constraint, combined with the second match with disparity gradient constrain, finally get the correct matching relationship of feature points in two homologous images. The experimental results show that: this method for matching of binocular dynamic vision measurement system, can get 100% of the matching accuracy rate. And it would satisfy the need of binocular dynamic vision measurement system.
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Zhang, Ke, and Zhao Gao. "The Technology of Fast 3D Reconstruction Based on Stereo Vision." Key Engineering Materials 579-580 (September 2013): 654–58. http://dx.doi.org/10.4028/www.scientific.net/kem.579-580.654.

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Reverse engineering has become an independent research area in CAD/CAM system with the development of modern manufacturing. The 3D reconstruction technology of generating a digit model from physical model is an important part of reverse engineering. The 3D reconstruction technology based on stereo vision has advantages such as non-contact measurement, simple system structure, being fast and efficient. In this paper, a fast 3D reconstruction technology based on stereo vision is presented. Firstly, BP neural network is used to simulate the mapping relationship between the 3D object and its images. Then, the epipole positions and adjusting coefficients for epipolar lines are calculated according to the epipolar line constraint. After the rectification transformations on the left and right image planes is conducted, the pairs of conjugate epipolar lines become collinear and parallel to the horizontal image axis. Therefore, when the stereo correspondences between the left and right images are being performed, the search is done only along the horizontal lines of the rectified images, which is highly advantageous to fast image matching for stereo vision and 3D reconstruction of free-form surface.
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Gong, D., Y. Han, and L. Zhang. "QUANTITATIVE ASSESSMENT OF THE PROJECTION TRAJECTORY-BASED EPIPOLARITY MODEL AND EPIPOLAR IMAGE RESAMPLING FOR LINEAR-ARRAY SATELLITE IMAGES." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences V-1-2020 (August 3, 2020): 89–94. http://dx.doi.org/10.5194/isprs-annals-v-1-2020-89-2020.

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Abstract. Epipolar geometry rectification is one of the critical issues in photogrammetry, which is a strong corresponding searching constraint in dense image matching for 3D reconstruction. In this paper, the properties of the projection trajectory-based epipolarity model are analyzed quantitatively, and the approximate straight line and parallelism property of the epipolar curve are discussed comprehensively using the linear pushbroom satellite images, i.e. IKONOS, GeoEye images. Based on the analysis of the epipolar line properties, a practical method for epipolar resampling developed. In this method, the pixelwise relationship is established between the original and the epipolar images. The experiments on TH-1 images show that quasi rigorous epipolar images can be resampled using our proposed method for both along-track images. After epipolar geometry rectification, the vertical parallaxes at checkpoints can achieve sub-pixel level accuracy, thus demonstrating the correctness and applicability of the proposed method.
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Zhang, Qian Qian, Ming Li Dong, Peng Sun, and Jun Wang. "Automatic Matching Based on Dynamic Threshold in Close-Range Photogrammetry." Advanced Materials Research 418-420 (December 2011): 1973–79. http://dx.doi.org/10.4028/www.scientific.net/amr.418-420.1973.

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Points matching is a key technology in close-range photogrammetry. The epipolar line constraint that confines the research area from two dimensions to one dimension, can improve the efficiency of matching process. In the paper, coded targets are applied to get a set of accurate correspondences of points between images, and then the correspondence set is used for calculating fundamental matrices by normalized 8-points algorithm that can be implemented quickly and simply. Because of the ambiguities, a completely accurate correspondence set will not be gained only by epipolar line constraint, and other technologies should be combined with epipolar line constraint. Three views are used to decrease ambiguities, and a method of dynamic threshold is presented to reject wrong correspondences. A proper threshold is calculated, and those correspondences whose corresponding distance is larger than the dynamic threshold, are considered as wrong matching points. Many experiments show that the correct rate of matching is about 99.98%, which means an automatic, efficient, accurate matching process can be implemented by the methods in this paper.
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Lehtola, Ville, Matti Kurkela, and Petri Rönnholm. "Radial Distortion from Epipolar Constraint for Rectilinear Cameras." Journal of Imaging 3, no. 1 (January 24, 2017): 8. http://dx.doi.org/10.3390/jimaging3010008.

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Liu, Xiaochen, and Suping Fang. "Correcting large lens radial distortion using epipolar constraint." Applied Optics 53, no. 31 (October 27, 2014): 7355. http://dx.doi.org/10.1364/ao.53.007355.

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Dissertations / Theses on the topic "Epipolar constraint"

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Rodríguez, López Antonio Leonardo. "Restricciones algebraicas epipolares para estimación visual eficiente de movimiento sin la estructura 3D = Algebraic epipolar constraints for efficient structureless multiview motion estimation." Doctoral thesis, Universidad de Murcia, 2013. http://hdl.handle.net/10803/124041.

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Resumen En esta tesis proponemos GEA (Global Epipolar Adjustment), un método de corrección de movimiento para aplicaciones de Visual SLAM y SfM altamente eficiente basado en restricciones algebraicas epipolares, que no hace uso de la información sobre la estructura. Este método obtiene resultados muy cercanos, y en muchos casos equivalentes a los obtenidos mediante bundle adjustment (BA), a pesar de su naturaleza algebraica, requiriendo por contra un coste computacional mucho menor. En este trabajo describimos cómo usar esa técnica para estimar las poses de cámara de forma incremental en aplicaciones SfM, sin necesidad de estimar en el proceso información sobre la estructura tal como correspondencias multivista de características de imagen. Estas poses de cámara pueden ser usadas a posteriori para obtener una estimación de alta precisión para la estructura. Demostramos que las técnicas descritas son robustas a los errores típicos de correspondencia obtenidos por los métodos habituales usados en SfM.
In this work we propose GEA (Global Epipolar Adjustment), a high-performance structureless BA correction method based on algebraic epipolar constraints. The GEA cost can be optimized very efficiently, in most cases using a small fraction of the time required by BA to obtain the optimal configuration. Despite of the algebraic nature of the cost, under general circumstances the accuracy of the obtained camera poses is very close to that obtained with classical BA methods. We also describe how to obtain accurate initializations for the camera poses incrementally using GEA and pairwise image feature correspondences, without requiring the composition of feature trackings or triangulation of scene landmarks. The resulting camera poses can be used afterwards to obtain highly accurate sparse or dense estimations of the scene structure. The techniques described are robust against outliers found by common pairwise image matching techniques.
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Val, Petran. "BINOCULAR DEPTH PERCEPTION, PROBABILITY, FUZZY LOGIC, AND CONTINUOUS QUANTIFICATION OF UNIQUENESS." Case Western Reserve University School of Graduate Studies / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=case1504749439893027.

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Mauricio, Emanuel Adelino Ferreira. "Localização de capsula endoscópica utilizando informação visual." Master's thesis, 2018. http://hdl.handle.net/10316/86666.

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Dissertação de Mestrado Integrado em Engenharia Electrotécnica e de Computadores apresentada à Faculdade de Ciências e Tecnologia
A utilidade das imagens capturadas num exame de endoscopia por cápsula endoscópica depende não só da informação contida na imagem como também da capacidade de localizar a mesma imagem no interior do sistema digestivo. É objectivo desta dissertação estimar a pose relativa de uma cápsula endoscópica multi-câmara panorâmica a partir das imagens utilizando métodos geométricos. A cápsula utilizada foi a CapsoCam SV2 da CapsoVision que possui quatro câmaras dispostas radialmente. O modelo da câmara generalizada e a restrição epipolar generalizada (REG)foram utilizados para estimar a pose relativa entre cada frame. Foi utilizado o algoritmo dos 17 pontos, a solução iterativa de Kneip e o algoritmo dos 17 pontos RANSAC para solucionar a REG. A integração das poses relativas permite criar um modelo do 3d do sistema digestivo onde cada fotografia pode ser localizada acrescentando uma dimensão extra ao exame médico.Uma parte substancial do trabalho foi dedicada ao desenvolvimento de dois simuladores distintos de um sistema multi-câmara análogo ao utilizado pela cápsula utilizada. O primeiro simulador pretende simular a projecção de pontos 3d definidos num sistema de coordenadas global no plano de imagem normalizado, desta forma a imagem consiste em pontos 2d em que a correspondência é conhecida à priori e não é necessário trabalhar com imagens RGB. A segunda simulação gera imagens RGB utilizando as propriedades do MATLAB de modo a aproximar os dados gerados com os dados reais obtidos com a cápsula.A configuração do sistema visual dos simuladores pode ser alterada facilmente. É possível adicionar ou remover câmaras e modificar os parâmetros intrínsecos e extrínsecos de cada câmara.Foi feita uma analise detalhada das imagens capturadas pela cápsula CapsoCam SV2 no que diz respeito à densidade de pontos de interesse (features), qualidade das correspondências entre features, redundâncias na imagem, continuidade de numero de features. Foram realizados realizados vários testes de laboratório fotografando vários padrões de xadrez com dimensões conhecidas com o objectivo de calibrar cada câmara separadamente. Os parâmetros intrínsecos de cada câmara foram estimados com o resultados pouco positivos. As poses relativas estimadas obtiveram erros de projecção muito grandes o que impossibilitou o cumprimento do objectivo. Contudo a analise realizada às imagens e os simuladores criados contribuíram muito para que num futuro próximo seja possível estimar a pose com uma precisão aceitável.
The information extracted from images captured by an endoscopic capsule is as useful as the capability to locate the portion of intestine being imaged. The relative pose estimation of a multi-camera endoscopic capsule with a 360 degree panoramic field of view, using the captured images is the objective of this dissertation. We used the CapsoCam SV2 from CapsoVision as the object of study. Using the generalized camera model and the generalized epipolarconstraint (GER) to determine the relative motion of the capsule between each frame. To compute a solution to the GER we used the 17 point algorithm, the Kneip solution and the 17 point RANSAC algorithm from the openGV library. The integration of the successive relative motions and the 3d reconstruction gives us a 3d model of the gastrointestinal track and the path taken by the device. This way we can determine where each photo as been taken adding an extra dimension to the medical exam. A substantial part of this work was dedicated to the development of two different simulations of a multi-camera system analogous to the CapsoCam SV2. This first simulation works as a simple projection of 3d points, defined in a global coordinate system, projected to the normalized image plane of each camera. This way the simulated image consists of 2d points where the correspondence between frames is known and we can apply the relative pose estimation algorithms directly. The second simulation generates RGB images using the full MATLABprotective space capabilities approximating the simulated and real data. The configuration of the visual system can easily be changed in both simulators. It is possible to change the intrinsic and extrinsic parameters of each camera and the number of cameras of the system. A detailed analysis to the images taken by the CapsoCam SV2 was also in scope of this dissertation, mainly the feature density, feature matching quality, image redundancy and correspondence continuity. Several tests were undertaken to calibrate each individual camera by taking photographs of checkerboard patterns with known dimensions. Each camera intrinsic parameters were calibrated successfully. Still, the estimated relative poses resulted in huge reprojectionerrors which means we did not meet the objective. The image analysis and the simulators provide a great contribution to the advancement towards the objective.
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Chiou, Ming-Jang, and 邱明璋. "Moving Object Detection and Tracking Using Monocular Vision Based on Epipolar Constraints." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/49513279276141856835.

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碩士
淡江大學
機械與機電工程學系碩士班
99
In this thesis, the visual simultaneous localization, mapping and moving object tracking (SLAMMOT) is developed using the extended Kalman filter (EKF). The research is divided into two parts: first, one monocular vision is utilized as the only sensor for the SLAMMOT system. The camera calibration is replaced by an image correction model to simplify the linearization derivation of the measurement equation in state estimation. Second, the algorithm of moving object detection (MOD) is developed based on the constraint condition of static image features on the epipolar line. We also develop the procedures of data association and map management for the SLAM task with moving objects. Finally, the EKF SLAMMOT with the proposed algorithm is implemented on a monocular vision system. The integrated system has successfully tested the basic capabilities of SLAM, including loop-closure, ground truth, long-distance navigation, and moving object detection and tracking for the system in the indoor environment.
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Book chapters on the topic "Epipolar constraint"

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Zhang, Zhengyou. "Epipolar Constraint." In Computer Vision, 247. Boston, MA: Springer US, 2014. http://dx.doi.org/10.1007/978-0-387-31439-6_127.

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Mohamed, Mahmoud A., M. Hossein Mirabdollah, and Bärbel Mertsching. "Monocular Epipolar Constraint for Optical Flow Estimation." In Lecture Notes in Computer Science, 62–71. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-68345-4_6.

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Mohamed, Mahmoud A., M. Hossein Mirabdollah, and Bärbel Mertsching. "Differential Optical Flow Estimation Under Monocular Epipolar Line Constraint." In Lecture Notes in Computer Science, 354–63. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-20904-3_32.

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Yi, Meng, Yan Chu, and Yunyi Yan. "Precision Mosaicking of Multi-images Based on Conic-Epipolar Constraint." In Advances in Intelligent Systems and Computing, 555–63. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07773-4_55.

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Brodský, Tomáš, Cornelia Fermüller, and Yiannis Aloimonos. "Beyond the Epipolar Constraint: Integrating 3D Motion and Structure Estimation." In 3D Structure from Multiple Images of Large-Scale Environments, 109–23. Berlin, Heidelberg: Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/3-540-49437-5_8.

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Tola, Engin, and A. Aydın Alatan. "Fast Outlier Rejection by Using Parallax-Based Rigidity Constraint for Epipolar Geometry Estimation." In Multimedia Content Representation, Classification and Security, 578–85. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/11848035_76.

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Xie, Ming, and Lai Yuan Liu. "Color stereo vision: Use of appearance constraint and epipolar geometry for feature matching." In Recent Developments in Computer Vision, 255–64. Berlin, Heidelberg: Springer Berlin Heidelberg, 1996. http://dx.doi.org/10.1007/3-540-60793-5_80.

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Feldmann, Anton, Lars Krüger, and Franz Kummert. "An Evaluation on Estimators for Stochastic and Heuristic Based Cost Functions Using the Epipolar-Constraint." In Computer Vision/Computer Graphics Collaboration Techniques, 40–50. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-24136-9_4.

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Dey, Soumyabrata, Vladimir Reilly, Imran Saleemi, and Mubarak Shah. "Detection of Independently Moving Objects in Non-planar Scenes via Multi-Frame Monocular Epipolar Constraint." In Computer Vision – ECCV 2012, 860–73. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33715-4_62.

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Åström, Kalle, Roberto Cipolla, and Peter J. Giblin. "Generalised epipolar constraints." In Lecture Notes in Computer Science, 95–108. Berlin, Heidelberg: Springer Berlin Heidelberg, 1996. http://dx.doi.org/10.1007/3-540-61123-1_130.

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Conference papers on the topic "Epipolar constraint"

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Ondrej Chum, T. Werner, and J. Matas. "Epipolar geometry estimation via RANSAC benefits from the oriented epipolar constraint." In Proceedings of the 17th International Conference on Pattern Recognition, 2004. ICPR 2004. IEEE, 2004. http://dx.doi.org/10.1109/icpr.2004.1334020.

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Abhishek, Anand, and K. S. Venkatesh. "Planar epipolar constraint for UAV navigation." In 2015 International Conference on Signal Processing, Computing and Control (ISPCC). IEEE, 2015. http://dx.doi.org/10.1109/ispcc.2015.7375036.

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Liansheng, Sui, Zhang Jiulong, and Cui Duwu. "Image Rectification Using Affine Epipolar Geometric Constraint." In 2008 International Symposium on Computer Science and Computational Technology. IEEE, 2008. http://dx.doi.org/10.1109/iscsct.2008.76.

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Den Hollander, R., D. J. De Lange, and K. Schutte. "Super-resolution of faces using the epipolar constraint." In British Machine Vision Conference 2007. British Machine Vision Association, 2007. http://dx.doi.org/10.5244/c.21.42.

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Shen, X., P. Palmer, P. McLauchlan, and A. Hilton. "Error Propogation from Camera Motion to Epipolar Constraint." In British Machine Vision Conference 2000. British Machine Vision Association, 2000. http://dx.doi.org/10.5244/c.14.55.

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Zhang, Jing, Chang-shun Wang, and Wu-ling Liao. "An Epipolar Geometry Constraint Based View Synthesis Algorithm." In 2009 2nd International Congress on Image and Signal Processing (CISP). IEEE, 2009. http://dx.doi.org/10.1109/cisp.2009.5302585.

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Huynh, Loc, Jongmoo Choi, and Gerard Medioni. "Aerial Implicit 3D Video Stabilization Using Epipolar Geometry Constraint." In 2014 22nd International Conference on Pattern Recognition (ICPR). IEEE, 2014. http://dx.doi.org/10.1109/icpr.2014.600.

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Domke, Justin, and Yiannis Aloimonos. "A Probabilistic Notion of Correspondence and the Epipolar Constraint." In Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06). IEEE, 2006. http://dx.doi.org/10.1109/3dpvt.2006.18.

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Monda, Mark J., and Craig A. Woolsey. "Pose estimation from visual measurements using the epipolar constraint." In 2010 49th IEEE Conference on Decision and Control (CDC). IEEE, 2010. http://dx.doi.org/10.1109/cdc.2010.5718182.

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Steinbach, Eckehard G., Bernd Girod, and Subhasis Chaudhuri. "Data-driven structure from motion using the epipolar corridor constraint." In Electronic Imaging '97, edited by Jan Biemond and Edward J. Delp III. SPIE, 1997. http://dx.doi.org/10.1117/12.263267.

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