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Essential Matrix: Difference between revisions
→Properties
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See Bartoli and Olsen<ref name="lecture16">[http://igt.ip.uca.fr/~ab/Classes/DIKU-3DCV2/Handouts/Lecture16.pdf 3D Computer Vision Lecture 16 by Bartoli and Olsen]</ref>. | See Bartoli and Olsen<ref name="lecture16">[http://igt.ip.uca.fr/~ab/Classes/DIKU-3DCV2/Handouts/Lecture16.pdf 3D Computer Vision Lecture 16 by Bartoli and Olsen]</ref>. | ||
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* The essential matrix is defined only up to a scale. I.e. if <math>\mathbf{u}'^T Q \mathbf{u} = 0</math> then <math>\mathbf{u}'^T (\lambda Q) \mathbf{u} = 0</math> | |||
** To extract scale, you need to have an object of known size or know the distance between the cameras. | |||
==Calculating the Essential Matrix from two images== | ==Calculating the Essential Matrix from two images== | ||