 The following method for determining formula_23 and formula_25 is based on performing a SVD of formula_2, see Hartley & Zisserman's book.It is also possible to determine formula_23 and formula_25 without an SVD, for example, following Longuet-Higgins' paper.An SVD of formula_2 gives

where formula_62 and formula_63 are orthogonal formula_1 matrices and formula_65 is a formula_1 diagonal matrix with

The diagonal entries of formula_65 are the singular values of formula_2 which, according to the internal constraints of the essential matrix, must consist of two identical and one zero value.