Eight-Point Algorithm Implementation for Image-based 3D Reconstruction

This MATLAB implementation successfully performs 3D reconstruction using computer vision principles. The core algorithm employed is the eight-point algorithm, which calculates the fundamental matrix through singular value decomposition (SVD) to obtain an optimal least squares solution. The implementation includes several key functions: reconstruct_twoview handles two-view geometry reconstruction, rot_matrix manages rotation matrix operations, skew generates skew-symmetric matrices for cross-product operations, triple_product computes vector triple products for geometric calculations, exp_rotation implements exponential maps for rotation parameterization, dessential decomposes essential matrices to extract camera poses, and compute3DStructure calculates 3D point coordinates from matched features. These functions provide a comprehensive framework for understanding and applying the eight-point algorithm in practical 3D reconstruction scenarios, with proper numerical stabilization techniques implemented throughout the codebase.