Figure VIII-A 
THE MATCHING PROCESS 
The image coordinates and the 
orientation parameters are used to 
determine the epipolar line. This 
constraint is then used to solve 
the point correspondence problem. 
Figure VIII-B 
THE EPIPOLAR CONSTRAINT 
A point in image I is matched with 
a corresponding point on the 
epipolar line in image iT. 
  
  
ORIENTATION PARAMETERS 
IMAGE I IMAGE II 
  
  
  
  
  
IMAGE COORDINATES 
  
  
  
  
  
  
  
  
  
  
  
  
  
X1: V] COLLINEARITY CONDITION 
I 
CONSTANTS a,b 
Y 
x) = ay? + b 
À 
MATCH WITH MEASURED x2 
PCI PCI 
Xo -ayo*b 
165