Fundamental geometric relationship between two perspective cameras:
- is the point of intersection of the line joining
the optical centers - the baseline - with the image plane.
The epipole is the
image in one camera of the optical center of the other camera.
- epipolar plane:
- is the plane defined by a 3D point and the
optical centers. Or, equivalently, by an image point and the
- epipolar line:
- is the line of intersection of the epipolar
plane with the image plane. It is the image in one camera of a ray
through the optical center and the image point in the other camera.
All epipolar lines intersect at the epipole.
Epipolar geometry provides a fundamental constraint for
the correspondence problem