3次元物体認識の現状技術と将来技術
エピポーラ線（epipolar line） 左画像上のある位置A(u, v) に対する視線l を，右画像に投影したとき にできる画像中の直線のこと． エピポーラ拘束の利⽤ 右画像において，Aの対応点は必ずエピポーラ線上に存在するという制
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