If and are corresponding image
points, then
i.e. , where is the fundamental matrix of maximum rank 2.
Properties
Example 1: Pure translation of a `fixed' camera , , then
Connection with vanishing points The epipole is the vanishing point of the translation direction.
Example - pure translation continued If the camera translation is parallel to the x axis, then
From
So that , i.e. the epipolar lines are corresponding rasters.