Essential matrix

In computer vision, the essential matrix is a ${\displaystyle 3\times 3}$ matrix, ${\displaystyle \mathbf {E} }$, with some additional properties described below, which relates corresponding points in stereo images assuming that the cameras satisfy the pinhole camera model.

More specifically, if ${\displaystyle \mathbf {y} }$ and ${\displaystyle \mathbf {y} '}$ are homogeneous normalized image coordinates in image 1 and 2, respectively, then

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