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Given a point m that has coordinates (u1,v1)
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 u1 and v1 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 (u1,v1)
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