Visual Perception: Epipolar Geometry

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

Yağmur Çiğdem Aktaş
6 min readOct 15, 2021

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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!

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