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The well-known methods of solving the problem of stereovision called three-dimensional scene reconstruction assume a time-consuming process of preliminary calibration of cameras. In the paper, an approach to solving the formulated problem, not requiring calibration, has been presented. The methods of calculating the fundamental matrix have been analyzed. The triangulation algorithm, which permits to evaluate the three-dimensional relative position of the point, based on processing of a stereo pair, has been considered. A method for estimating three-dimensional coordinates has been proposed. The calculation of a fundamental matrix has been performed based on a comparison of keypoints. To determine them, the SIFT algorithm, which permits us to fix a sufficient number of reliable special points on a pair of images, has been used. For calculation of the three-dimensional coordinates a software implementation of the polynomial triangulation algorithm has been performed. This guarantees that the solution of the problem of searching the global minimum of the distance between the source and approximated points will be found. Since it is not iterative, then during realization it is characterized by a relatively high performance. The coordinates of the points have abstract values, and only their relative location is estimated, which excludes the necessity of cameras calibration. The mathematical approach used in the algorithm makes it possible to reconstruct the correct three-dimensional structure of an object.
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