Epipolar geometry
![Typical use case for epipolar geometryTwo cameras take a picture of the same scene from different points of view. The epipolar geometry then describes the relation between the two resulting views.](/Images/godic/202501/11/Aufnahme_mit_zwei_Kameras.svg3110.png")
![Epipolar geometry](/Images/godic/202501/11/Epipolar_geometry.svg3110.png")
![Example of epipolar geometry. This paragraph needs clarification as the content is not clear: if the two camera plane coincide then the two epipoles are undetermined as intersection of one optical center of one camera with the other camera plane is not a point but a line.
Two cameras, with their respective centers of projection points OL and OR, observe a point P. The projection of P onto each of the image planes is denoted pL and pR. Points EL and ER are the epipoles.](/Images/godic/202501/11/Epipolar_Geometry1.svg3110.png")
Epipolar geometry is the geometry of stereo vision. When two cameras view a 3D scene from two distinct positions, there are a number of geometric relations between the 3D points and their projections onto the 2D images that lead to constraints between the image points. These relations are derived based on the assumption that the cameras can be approximated by the pinhole camera model.