nao平台的视觉实现.ppt

* * (0). Essential Equation represents actually the epipolar plane in either the left or the right image (1). Epipolar line in the right image given pl (Epl)Tpr=0 zr = fr extension of the equations in pr = (xr,yr,fr) (2). Epipolar line in the left image given pr (prTE) pl=0 zl = fl * (0). Essential Equation represents actually the epipolar plane in either the left or the right image (1). Epipolar line in the right image given pl (Epl)Tpr=0 zr = fr extension of the equations in pr = (xr,yr,fr) (2). Epipolar line in the left image given pr (prTE) pl=0 zl = fl * (0). Essential E