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Firstly I guess this question might be duplicated, but I couldn't find it.

Question. It's actually in the title.

  • Can I get Essential Matrix from Fundamental matrix with few matching keypoints, but without intrinsic parameters?

Situation. I am trying to find Essential matrix. I use my phone camera to take photos, and then extract keypoints using SIFT(or ORB). I have 2 images of an object and it's matching points. I could get F, Fundamental Matrix but I have no idea how to get Essential Matrix from this. I don't have camera intrinsic parameters, such as Fx, Fy, Cx, Cy. I am stuck to this situation. I googled but couldn't get answers. Let me know if it's duplicated then I'd delete this.

PLUS: I also don't have camera coordinates or world coordinates.

Micka
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PastaAndBeer
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  • You only can (and probably need to) guess interior parameters. Refer to my answer [here](https://stackoverflow.com/questions/59014376/what-do-i-do-with-the-fundamental-matrix/59028162#59028162) – Grillteller Jan 13 '22 at 14:42
  • Thank you, @Grillteller ! It helps me a lot. – PastaAndBeer Jan 14 '22 at 05:35

1 Answers1

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No you can't, you need to know the metric size of the pixel and the focal because essential matrix is in the real world.

mathieu.letombe
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