The efficiency of epipolar geometry estimation by RANSAC is improved by exploiting the oriented epipolar constraint. Performance evaluation shows that the enhancement brings up to a two-fold speed-up. The orientation test is simple to implement, is universally applicable and takes negligible fraction of time compared with epipolar geometry computation.
['Ondrej Chum', 'Tomas Werner', 'Jiri Matas']
Epipolar geometry estimation via RANSAC benefits from the oriented epipolar constraint