StereoVision_1 - Nanyang Technological University
StereoVision_1 - Nanyang Technological University
StereoVision_1 - Nanyang Technological University
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Epipolar Geometry Derivation<br />
<br />
P l, T and (P l-T) lie in the same plane<br />
Express this as<br />
In right frame P r=R -1 (P l-T) <br />
School of Computer Engineering<br />
<strong>Nanyang</strong> <strong>Technological</strong> <strong>University</strong><br />
( × T)<br />
⋅(<br />
P − T)<br />
= 0<br />
Pl l<br />
( ) T<br />
× T ( P − T)<br />
= 0<br />
Pl l<br />
( ) T<br />
P T RP = 0<br />
l<br />
× r<br />
SC437<br />
Computer Vision and Image Processing<br />
TJ Cham<br />
2002-03 / S2
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