| Essential
matrix |
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| Co-planarity
constraint: |
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x’ ≈ R x + t |
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| [t] x’
≈ [t] R x |
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| x’T
[t] x’ ≈ x’ T
[t] R x |
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| x’ T E x =
0 with E =[t] R |
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| • | Solve for E using least squares (SVD) |
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| • | t is the least singular vector of E |
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| • | R obtained from the other two s.v.s |
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