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2 - view special case: unknown yaw and horizontal translation Assume that a two - view config - uration consists of two cameras with identical
view special case: unknown yaw and horizontal translation Assume that a twoview config
uration consists of two cameras with identical and known intrinsic parameters displaced as follows:
Xr RXl t where R
cos beta sin beta
sin beta cos beta
t t cos alpha t sin alpha T
with t the magnitude of the translation, and Xr Xl position vectors of points wrt the right and left
camera coordinate system, respectively. Another way to think of this setup is one camera moving in
the XZplane.
Write the essential matrix E defined from the epipolar constraint xT
r Exl
How many points do I need in order to solve for the Ematrix using a homogeneous linear system?
In this configuration, the two optical axes intersect the way that the human eyes converge.
Compute the coordinates Xl Zl of the intersection of the optical axes wrt the left coordinate
system.
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