Epipolar (Stereo) Geometry - University of Nevada, Reno
-Properties of the essential matrix: (1) encodes info on the extrinsic parameters only (2) has rank 2 (3) its twononzero singular values are equal • The fundamental matrix, F-Suppose thatMl and Mr are the matrices of the intrinsic parameters of the left and right camera, then the pixel coordinates pl and pr of pl and pr are: pl =Ml pl, pr =Mr pr
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