next up previous
Next: Epipolar geometry examples Up: No Title Previous: Rotation about optical

Epipolar Geometry

The fundamental geometric relationship between two perspective cameras.

Epipolar pencil

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.

Bob Fisher
Wed Apr 16 00:58:54 BST 1997