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The Fundamental Matrix

If and are corresponding image points, then

i.e. , where is the fundamental matrix of maximum rank 2.


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


So that , i.e. the epipolar lines are corresponding rasters.

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