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The fundamental geometric relationship between two perspective cameras.
- The epipole: is the point of intersection of the line
joining the optical centres---the baseline---with
the image plane. The epipole
is the image in one camera of the optical centre of the other
- The epipolar plane: is the plane defined by a 3D
point and the optical centres. Or, equivalently, by an image point
and the optical centres.
- The epipolar line: is the straight line of
intersection of the epipolar
plane with the image plane. It is the image in one camera of
a ray through the optical centre and image point in the other
camera. All epipolar lines intersect at the epipole.
As the position of the
3D point varies, the epipolar planes ``rotate'' about the
baseline. This family of planes is known as an epipolar pencil. All epipolar
lines intersect at the epipole.
Correspondences between images
A point in one image generates a line in the other
on which its corresponding point must lie. The search for
correspondences is thus reduced from a region to a line.
This epipolar constraint arises
because, for image points corresponding to the same 3D point, the image points,
3D point and optical centres are coplanar.
Wed Apr 16 00:58:54 BST 1997