Transcription of CS231A Course Notes 3: Epipolar Geometry - Stanford …
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CS231A Course Notes 3: Epipolar Geometry - Stanford …
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.
The focus of these lecture notes is to show how having knowledge of geom-etry when multiple cameras are present can be extremely helpful. Speci cally, we will rst focus on de ning the geometry involved in two viewpoints and then present how this geometry can aid in further understanding the world around us. 2 Epipolar Geometry
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