fundest is a C/C++ library for robust, non-linear fundamental matrix estimation. The fundamental matrix is a singular 3x3 matrix which relates corresponding points in two views according to the epipolar constraint. fundest computes an estimate which minimizes an appropriate non-linear cost function defined on matching points (currently either Sampson error or symmetric distance of points from their epipolar lines) and includes robust regression techniques for coping with outliers (i.e., mismatched point pairs).
