20
Epipolar Geometry Constraint:
1. Normal Pair of Images
x
y1
y2
z1
z2
C1
C2
b
P
P1
P2
epipolar
plane
The epipolar plane cuts through the image plane(s)
forming 2 epipolar lines.
The match for P1 (or P2) in the other image,
must lie on the same epipolar line.