# Visual Perception: Epipolar Geometry

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

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**!

Let’s take a look at Epipolar Geometry structure and its base terms:

By looking at these terms, **we can understand that we will have an epipolar line for each projected point, whereas we have only 1 epipole for 1 image plane**. And all **the epipolar lines on the same image plane intersects on the epipole.**

Another brief note I want to add is that don’t forget that until now we worked only with 1 camera which means we worked with **monocular **cameras while for epipolar geometry we need **at least 2 monocular** or **1 stereo camera** which provides us **multiple views.**

What are we able to do using this geometry?

- We can reconstruct 3D world points using the pairs of 2D points coming from the left and right images.