Epipolar Geometry

Pinhole model

tex2html_wrap223

displaymath171

or

displaymath172

Epipolar Geometry

tex2html_wrap_inline187

Fundamental equations: (pinhole model)
if tex2html_wrap_inline189 in image 1 is matched to tex2html_wrap_inline191 in image 2

align54

Epipolar equation: eliminating M, tex2html_wrap_inline195 and tex2html_wrap_inline197 tex2html_wrap_inline199

displaymath174

where tex2html_wrap_inline201 is a 3 tex2html_wrap_inline203 3 antisymmetric matrix such that

displaymath175

Fundamental matrix: define

displaymath176



Author: Zhengyou Zhang
Email: zzhang@sophia.inria.fr

Wed Oct 9 14:50:47 MET DST 1996