 Richard Hartley and Andrew Zisserman's book reports that an analogous matrix appeared in photogrammetry long before that.Longuet-Higgins' paper includes an algorithm for estimating formula_2 from a set of corresponding normalized image coordinates as well as an algorithm for determining the relative position and orientation of the two cameras given that formula_2 is known.Finally, it shows how the 3D coordinates of the image points can be determined with the aid of the essential matrix.