 Essential matrix

In computer vision, the essential matrix is a formula_1 matrix, formula_2, with some additional properties described below, which relates corresponding points in stereo images assuming that the cameras satisfy the pinhole camera model.More specifically, if formula_3 and formula_4 are homogeneous "normalized" image coordinates in image 1 and 2, respectively, then

if formula_3 and formula_4 correspond to the same 3D point in the scene.The above relation which defines the essential matrix was published in 1981 by H. Christopher Longuet-Higgins, introducing the concept to the computer vision community.