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International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B5. Istanbul 2004 
  
x xk 
y |2R yl (2) 
= fl 
xt x2 
y'|=R1y2 (3) 
z" z2 
Where: 
x ly l,xX2,y2 are image coordinate of corresponding points, 
bx, by and bz are parallax parameters, and 
R, R' are the rotation matrices. 
Only six or more corresponding image points are needed for 
solving theses parameters. By exerting these parameters on each 
image, geometry correction is done. Linear method is used for 
radiometric correction which produces radiometric correction. 
3. RESULTS 
To obtain required images, two images have been taken by 
"Olympus C-740" a digital camera with 50 mm focal length 
from a mini mouse in a normal photography network. Accuracy 
of results is proved with line to line comparison of result 
images. 
Figures 2 and 3 show original and epipolar images from left 
and right sides of the mini mouse respectively. 
  
    
Figure3. Left and right epipolar images. 
4. ANALYSIS 
Results have shown that all lines are elongated with each other. 
In this method, only two simple matrices (equation 1, 2) should 
be calculated that is to prevent heavy calculations on each pixel. 
Therefore, the speed of this method is high and by combining 
two other methods, we can have higher speed. Relative 
distances, 3D reconstruction and depth of points (distance 
between each object point to digital camera in the exposure 
time) are obtainable by matching all image points. 
5. CONCLUSION 
Results of these methods have shown that without control points 
and hardware facilities, epipolar image can be produced. Then 
this method has a lot of applications in many fields (such as in 
mine, robotic or medical fields) especially in lack of control 
points or hardware facilities. 
6. REFERENCES 
Marr D. and Poggio T. 1976.: Cooperative computation of 
stereo disparity. Science, 194:283—287. 
Schenk T., Li J.C., Toth C., 1991: Towards an autonomous 
system for orienting digital stereo pairs, PE&RS (57) 8, 1057- 
1064.