Multi-resolution matching of uncalibrated images utilizing epipolar geometry and its uncertainty

We have developed a simple and efficient wavelet-based technique for matching points in uncalibrated images. The results show that with the proposed method the probability for obtaining a false match practically vanishes when natural images are used. We also show how the uncertainty of the fundamental matrix can be interpreted from image matching viewpoint and explain how the disparity information incorporated in the fundamental matrix covariance can be utilized.