**epipole:**- 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 optical centers.
**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**

- Epipolar geometry: uncalibrated case
- Epipolar geometry: calibrated case
- Epipolar geometry: examples
- How to find correspondences

Subhashis Banerjee 2008-01-21