Cheirality in Epipolar Geometry

@inproceedings{Werner2001CheiralityIE,
  title={Cheirality in Epipolar Geometry},
  author={Tom{\'a}{\vs} Werner and Tom{\'a}s Pajdla},
  booktitle={ICCV},
  year={2001}
}
The image points in two images satisfy epipolar constraint. However, not all sets of points satisfying epipolar constra int correspond to any real geometry because there can exist no cameras and scene points projecting to given image points such that all image points have positive depth. Using the cheirality theory due to Hartley and previous work on oriented projective geometry, we give necessary and sufficient conditions for an image point set to correspond to any real geometry. For images… CONTINUE READING
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