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CS231A Course Notes 3: Epipolar Geometry

CS231A Course Notes 3: Epipolar GeometryKenji Hata and Silvio Savarese1 IntroductionPreviously, we have seen how to compute the intrinsic and extrinsic param-eters of a camera using one or more views using a typical camera calibrationprocedure or single view metrology. This process culminated in derivingproperties about the 3D world from one image. However, in general, it is notpossible to recover the entire structure of the 3D world from just one is due to the intrinsic ambiguity of the 3D to the 2D mapping: someinformation is simply 1: A single picture such as this picture of a man holding up theLeaning Tower of Pisa can result in ambiguous scenarios.

two cameras observing the same 3D point P, whose projection in each of the image planes is located at pand p0respectively. The camera centers are located at O ... of the same scene and without knowing the extrinsic or intrinsic parameters of the camera. The method we discuss for doing so is known as the Eight-Point 6.

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