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