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Geometric Computer Vision: Difference between revisions
→Optical Flow
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# For each point p, pick the largest connected component. | # For each point p, pick the largest connected component. | ||
== | ===Essential Matrix=== | ||
The essential matrix satisfies <math>\hat{p}' E \hat{p} = 0</math> where <math>\hat{p} = M^{-1}p</math> and <math>\hat{p}'=M'^{-1}p'</math>. | |||
The fundamental matrix is <math>F=M'^{-T} E M^_{-1}</math>. | |||
;Properties | |||
* The matrix is 3x3. | |||
* If <math>F</math> is the essential matrix of (P, P') then <math>F^T</math> is the essential matrix of (P', P). | |||
* The essential matrix can give you the equation of the epipolar line in the second image. | |||
** <math>l'=Fp</math> and <math>l=F^T p'</math> | |||
* For any p, the epipolar line <math>l'=Fp</math> contains the epipole <math>e'</math>. This is since they come from the camera in the image. | |||
** <math>e'^T F = 0</math> and <math>Fe=0</math> | |||
[https://www.youtube.com/watch?v=DgGV3l82NTk Fundamental matrix song] | |||
==Projects== | ==Projects== | ||