5,336
edits
Essential Matrix: Difference between revisions
→Determining rotation \mathbf{R} and translation \mathbf{t}
| Line 86: | Line 86: | ||
* Some sources such as Wikipedia use <math>[T]_{\times} = U Z U^T</math> and <math>T = U (0, 0, 1)^T</math>. | * Some sources such as Wikipedia use <math>[T]_{\times} = U Z U^T</math> and <math>T = U (0, 0, 1)^T</math>. | ||
** This is equivalent to <math>RT</math> in our notation. | ** This is equivalent to <math>RT</math> in our notation. | ||
* Since <math>V</math> is orthonormal, this | * Since <math>V</math> is orthonormal, this gives <math>\Vert T \Vert = 1</math> | ||
* Note <math>-RT = -UEV^T V(0,0,1)^T = -U(0,0,1)^T</math> | * Note <math>-RT = -UEV^T V(0,0,1)^T = -U(0,0,1)^T</math> | ||