- Select the projection center of the first camera as the coordinate origin and that of the second camera as the unit point .
- Complete the 3D basis by choosing 3 other visible 3D points , and such that no four of the five points are coplanar.
- Let , , and , , be the image projections of , and in the two images.
- Make a projective transformation of each image such that these 3 points
and the epipoles form a standard basis
- Also fix the 3D coordinates as
- It follows that
and
- Once 's are known finding the projective structure of the other points is straightforward.