##### 抄録

We introduce a new robust approach for the computation of the fundamental
matrix taking into account the intrinsic errors (uncertainty) involved in
the discretization process. The problem is modeled as an approximate
equation system and reduced to a linear programming form. This approach is
able to compute the solution set instead of trying to compute only a
single vertex of the solution polyhedron as in previous approaches.
Therefore, our algorithm is a robust generalization of the eight-point
algorithm. The exact solution computation feasibility is proved for some
pure translation motions, depending only on the distribution of the
discretization errors. However, a single exact solution for the
fundamental matrix is not feasible for pure rotation cases. The
feasibility of an exact solution is decided according to an error distance
between a nontrivial exact solution and the faces of the solution set.