The Epipolar Geometry Toolbox: multiple view geometry and visual servoing for MATLAB

Abstract — The Epipolar Geometry Toolbox (EGT) was realized to provide a MATLAB user with an extensible framework for the creation and visualization of multi-camera scenarios and the manipulation of the visual information and the geometry between them. Functions provided, for both pin-hole and panoramic vision sensors, include camera placement and visualization, computation and estimation of epipolar geometry entities and many others. The compatibility of EGT with the Robotics Toolbox [7] allows to address general vision-based control issues. Two applications of EGT to visual servoing tasks are here provided. This article introduces the Toolbox in tutorial form. Examples are provided to show its capabilities. The complete toolbox, the detailed manual and demo examples are freely available on the EGT web site [21]. I