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The transfer of corresponding epipolar lines is described by the following equations:

(G2) 
with a homography for an arbitrary plane. As seen in [83] a valid homography can be obtained immediately from the fundamental matrix:

(G3) 
with a random vector for which det
so that is invertible.
If one disposes of camera projection matrices an alternative homography is easily obtained as:

(G4) 
where indicates the MoorePenrose pseudo inverse.
Marc Pollefeys
20021122