- There are two camera coordinate systems related by
- Taking the vector product with
followed by the scalar product
with
which expresses that vectors
,
and
are coplanar.
- This can be written as
where
is the Essential matrix.
- Image points and rays in Euclidean 3-space are related by:
and
- Hence, we have
- Thus, the relation between the essential and fundamental matrix is:
Subhashis Banerjee
2008-01-21