Epipolar geometry examples

Example 1: Converging cameras

Example 2: Near parallel cameras

In general epipolar lines are not parallel.

Degrees of Freedom

Epipolar geometry depends only on the relative pose (position and orientation) and internal parameters of the two cameras, i.e. the position of the optical centres and image planes. It does not depend on structure (3D points external to the camera).

There are 7 degrees of freedom:

• 2 to specify the epipole in each image.
• 3 to specify the projectivity between epipolar line pencils.

The fundamental matrix is the algebraic representation of epipolar geometry.