Curve matching and stereo calibration

These lines are the intersections of the plane through the point p in the world and the centres of the left and right cameras with the two camera focal planes (see Figure 1). These epipolar lines are formed by the intersections of the pencil of planes through the line joining the image centres with the camera focal planes. Hence such lines form a pencil passing through the point of intersection of the line of centres with the focal plane, we will call this point the epipolar base point. The condition that all possible lines m = Epi form a pencil is satisfied only if rank(i?) < 2, but this follows from the non-linear constraint on E that det(E) = det(T) det(R) 0.