Geometrical constraints of the synthetic method of estimating fundamental matrix and its analysing

The new geometrical constraints, based on the geometrical analysing of synt hetic method, are developed to estimate fundamental matrix (F matrix). Appl ying the new constraints, the four parameters of fundamental matrix could b e estimated firstly, and these four parameters are the coordinates of the t wo epipoles. The other four parameters of the fundamental matrix could be s olved by solving the linear equations with the other new constraint secondl y, and these parameters represent the homography between the two pencils of epipolar lines. The synthetic data and the real data are used to test the new method. And the method is of the advantages of obvious geometrical mean ing, and high stability of the epipoles of the fundamental matrix.