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Relative Pose

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title: Relative Pose
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**Reading** Ma 2004 Chapter 5

# The Epipolar Constraint

![Epipolar constraint due to Hamidur Rahman](Images/epipolar.jpg)

+ Two cameras, two co-ordinate frames
+ Relative Pose: transformation $(R,T)$ from Camera Frame 1 to Camera Frame 2.


# Essential Matrix