Epipolar (Stereo) Geometry - University of Nevada, Reno
-The usual equations of perspective projection define the relation between 3D points and their projections: pl = fl Zl Pl, pr = fr Zr Pr • Epipolar constraint-Giv e n pl, P can lie anywhere on the ray from Ol through pl.-The image of this ray in the right image image is the epipolar line through the corre-sponding point pr.
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