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The epipolar geometry describes the relations that exist between two images. The epipolar geometry is described by the following equation:
where and are homogeneous representations of corresponding image points and is the fundamental matrix. This matrix has rank two, the right and left null-space correspond to the epipoles and which are common to all epipolar lines. The epipolar line corresponding to a point is given by
with meaning equality up to a non-zero scale factor (a strictly positive scale factor when oriented geometry is used, see further).