 Choose the first camera as
which corresponds to the world coordinate system having its origin
at the optical center of the first camera, and its axes aligned
with the camera axes. It is always possible to make this choice.
 The choice of the second camera consistent with the
fundamental matrix is
and the fundamental matrix is given as:

is the projection of the optical center of the first
camera,
, onto the second image
 Similarly, the optical center of the second camera is is
, and its
projection onto the first image is
.
 Given
and
, the 3D point
corresponding
to a pair of image point
and
can be computed
by intersecting the backprojected rays
To summarize:
 Compute the fundamental matrix
from
.
 Decompose
as
.
 Compute 3D points
by intersecting backprojected rays
using
and
Subhashis Banerjee
20080121