- The homography between two planes is represented by a
matrix
- The epipoles are image projections of a 3D point lying on all planes,
because the line joining the optical centers intersects any plane.
- Four coplanar points and two points off the plane determine the
epipolar geometry.
- Compute the plane projective transformation , such that .
- Determine the epipole
in the
image as the
intersection of the lines
and
.
- The epipolar line in the image of any other point is given as .

Subhashis Banerjee 2008-01-21