- is a matrix, which transforms the normalized
image coordinates to pixel image coordinates.
- represents the displacement from the world
coordinate system to the camera coordinate system.
Fundamental equations: (pinhole model)
if in image 1 is matched to in image 2
Epipolar equation: eliminating M, and
where is a 3 3 antisymmetric matrix such that
Fundamental matrix: define
- Epipolar equation:
- completely characterizes the epipolar geometry between
two images: two epipoles (4 parameters) and the
homography between the two pencils of epipolar lines (3
- has only seven degrees of freedom
(up to a scale factor & zero determinant)
at least 7 point matches to estimate
- : epipolar line of
where is the essential matrix.
Author: Zhengyou Zhang
Wed Oct 9 14:50:47 MET DST 1996