Structure From Motion : Part 1
Here are some of the initial steps in the SFM pipeline, which are a result of estimating the Fundamental Matrix between two images in a sequence and performing RANSAC to get rid of erroneous outliers and get a set of at least 8 strong correspondences. The next step involves estimating the Essential Matrix and generating a set of 4 possible camera pose configurations.
The video illustrates the RANSAC algorithm working with different threshold values to refine the strength of the correspondences and also a visualisation of Epipolar Lines is shown.