As you know, a $2$D point u $($in left image$)$Essential Matrix: $E=tR$

Fundamental Matrix: $F=K_R^{-T}E{K}_L^{-1}-=K^{-T}E{K}^{-1}$

Relates $u($left image point$)$ and $v($right image point$)$

The constraint: $v^{TT}Fu=0$

As you know, a $2D$ point $u($in left image$)$

maps to a line $L$ on the right image. What is

the equation of the line $L?$

As shown above, the essential matrix is

defined as $E=tx.$ Prove that given the $33$

matrix $E,$ we can recover the translation from

the nullspace of $E^{TT}.$

That is$,$ prove that $t=+-$ nullspace $(E^T)$

maps to a line L on the right image. What is

the equation of the line L$?$

$2.$ As shown above, the essential matrix is

defined as E $=$ t x R$.$ Prove that given the $3$x$3$

matrix E$,$ we can recover the translation from

the nullspace of E

T

$.$

That is that t $=\backslash$pm nullspace$($E

T$)$