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Epipolar geometry
The epipolar geometry describes the relations that exist between two images. The epipolar geometry is described by the following equation:

(G1) 
where and are homogeneous representations of corresponding image points and is the fundamental matrix. This matrix has rank two, the right and left nullspace 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 nonzero scale factor (a strictly positive scale factor when oriented geometry is used, see further).
Subsections
Marc Pollefeys
20021122