- Let and be the optical center and the retinal plane of a camera.
- Consider a rigid motion of the camera from configuration to .
- Let and be the two images of corresponding to the two configurations.
- Clearly because .
- Thus is determined by only the internal parameters.
- Consider the equation of
- Images
of points
of
satisfy the equation
- Since
, we have that the equation of
is
- In terms of pixel coordinates this can be re-written as:

Subhashis Banerjee 2008-01-20