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Given a point *m* that has coordinates (*u*_{1},*v*_{1})
in the first retinal plane ,it is known that its correspondence and the
fundamental matrix are related by:
This equation can be expanded to
where *u*_{1} and *v*_{1} are known entities, *u* and *v* are variables.
This is the equation of a line in the second retinal plane.
It is the epipolar line on which *m*' must lie.
Given a point *m* that has coordinates (*u*_{1},*v*_{1})
in the first retinal plane ,to compute the epipolar line **l** that contains *m*,
we must first compute the epipole **e** .

**e** intersection point of all epipolar lines in .

- The epipole
**e** in projection
of *C*' onto null vector of **F**.
- The epipole in projection
of
*C* onto null vector of **F**.

The coordinates of **l** can then be computed as
the cross-product of **e** and **m**.

Robyn Owens

*10/29/1997*