The problem and its resolvent about redundancy of co-linear points in estimating the fundamental matrix (FM) which is a basic tool in scene analysis are developed, based on the application in computer vision of epipolar geometry and perspective geometric invariants. The redundancy means that, on a line, there are at most three points that can be used as matching points to estimate the FM, the others are the redundant points. Its proof in theory and experimental results show that the accuracy and stability of FM are distinctly improved by eliminating the redundant points.
"Redundancy of colinear points in estimating the fundamental matrix", Proc. SPIE 3168, Vision Geometry VI, (20 October 1997); doi: 10.1117/12.279675; https://doi.org/10.1117/12.279675