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Two image of a single scene are related by the epipolar geometry, and its determination is very important in many applications such as scene modeling and navigation. A new robust linear algorithm by exploiting the strategy of weighted normalization for matching points and the new uncertainty analysis for the fundamental matrix present in this paper. Firstly, on the basis of considering the residual errors and epipolar distance, the weighted factor and the cost function are introduced. Secondly, the epipolar geometry is determined by a simple transformation (weighted translation and scaling) for the matching points. The supplemental computation in the method for the transformation is insignificant. Finally, a large number of real images and simulated data were selected and an intensive experimental work has been carried out to quantify the uncertainty of the fundamental matrix by using the presented method.
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