Properties of the essential matrix
•p'TEp = 0
•Ep is the epipolar line associated with p
•e and e' are called epipoles: Ee = 0 and ETe'
= 0
•E can be solved for with 5 point matches
–see Nister, An efficient solution to the five-point relative pose problem. PAMI 2004.
epipolar plane
epipolar line
epipolar line
p
p'
Ep
e
e'