Fundamental matrix
	Camera calibrations are unknown    x’ F x = 0 with F  = [e] H = K’[t] R K-1 • Solve for F using least squares (SVD) • re-scale (xi, xi’ ) so that |xi|≈1/2  [Hartley] • e (epipole) is still the least singular vector of F • H obtained from the other two s.v.s • “plane + parallax” (projective) reconstruction • use self-calibration to determine K [Pollefeys]