# Visual Perception: Epipolar Geometry

## Epipolar Geometry basics like Essential Matrix, Fundamental Matrix, Triangulation, Feature Matching are explained with their MATLAB code implementations

6 min readOct 15, 2021

We learned how to use a projective camera and how to calibrate it. In this post, we will learn **Epipolar Geometry**, which is the **intrinsic projective geometry between two views**. Two views mean now we will learn how to work with **more than 1 camera to perform different tasks**!