Fundamental Matrix
http://en.wikipedia.org/wiki/Fundamental_matrix_(computer_vision)
In computer vision, the fundamental matrix 
is a 
matrix of rank 2 which relates corresponding points in stereo images. In epipolar geometry, with homogeneous image coordinates 
and 
of corresponding points in a stereo image pair, 
describes a line (an epipolar line) on which the corresponding point y2 on the other image must lie. That means, for all pairs of corresponding points holds
Being of rank two and determined only up to scale, the fundamental matrix can be estimated given at least seven point correspondences. Its seven parameters represent the only geometric information about cameras that can be obtained through point correspondences alone.
epipole
epipolar line
epipolar plane
http://en.wikipedia.org/wiki/Epipolar_geometry
RANdom SAmple Consensus
http://en.wikipedia.org/wiki/RANSAC
ref.
http://www.robots.ox.ac.uk/~vgg/hzbook/index.html
http://nonsense.danielwedge.com/2008/10/19/the-fundamental-matrix-song/
An Invitation to 3-D Vision
Yi Ma, Stefano Soatto, Jana Kosecka, Shankar Sastry
Springer Verlag, 2003
Learning Epipolar Geometry
The Java code for this page was created by Sylvain Bougnoux.
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