## Description

Prelab work:

• Read Lecture 10.

• Get the camera parameters from Lab 2 (focal length, Cx, Cy, …).

• Familiarize yourself with SVD function in MATLAB

A. Calculate the essential matrix:

1. Calculate H_c2_c1 from the known H_m_c1 and H_m_c2.

2. From that extract R_c2_c1 and Pc2org_c1.

3. Calculate E from Pc2org_c1 and R_c2_c1 using the skew symmetric matrix technique. It should

be something like this:

B. Draw epipolar lines:

Compute el=E*p2 where el=[a,b,c] and the equation of the line is ax+by+c=0

C. Use 8-point algorithm to compute E

Note that the calculated E is correct up to a scale. It should be something like this:

Submission: You need to submit:

1. A report including results (pdf or word),

2. The MATLAB code,

to the D2L DropBox folder by the deadline of this assignment.