Computation of the essential matrix from 6 points
نویسنده
چکیده
Thus, consider a set of matched points ui ↔ ui for i = 1, . . . , 6 and suppose that the points x1, . . . ,x4 corresponding to the first four matched points lie in a plane in space. Let this plane be denoted by π. Suppose also that no three of the points x1, . . . ,x4 are collinear. Suppose further that the points x5 and x6 do not lie in that plane. Various other assumptions will be necessary in order to rule out degenerate cases. These will be noted as they occur.
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