Consider estimating the F$-$matrix from the sets of corresponding points, in the left and right images of a stereo pair. Here x$$k$^$L is a $2-$vector specifying the pixel coordinates in the left image of the kth scene point, and x$$k$^$R provides the pixel coordinates for the same scene point in the right image.

a$)$ if there was no noise in the image point x$$k$^$L and x$$k$^$R$,$ write out an equation in terms of F which relates these two positions,

b$)$ In the presence of noise positions of the corresponding points, write out an expression for the squared distance between x$$k$^$R and the epipolar line specified by the corresponding point x$$k$^$L $($ignoring the noise in x$$k$^$L$)$