 The above determination of formula_23 and formula_25 assumes that formula_2 satisfy the internal constraints of the essential matrix.If this is not the case which, for example, typically is the case if formula_2 has been estimated from real (and noisy) image data, it has to be assumed that it approximately satisfy the internal constraints.The vector formula_103 is then chosen as right singular vector of formula_2 corresponding to the smallest singular value.