# Fundamental Matrix

Used for uncalibrated cameras (intrinsics are unknown). Essential Matrix is used for calibrated cameras.

The fundamental matrix relates corresponding points in stereo images (epipolar geometry).

Resources

The matrix $F$ is the fundamental matrix (for uncalibrated cameras): $F=(K_{′})_{−T}R_{′}S_{b}R_{′′_{T}}(K_{′′})_{−1}$

It allow for expressing the Coplanarity Constraint by $x_{′_{T}}Fx_{′′}=0$

The fundamental matrix is the matrix that fulfills the equation $x_{′_{T}}Fx_{′′}=0$ for corresponding points

The fundamental matrix contains the all the available information about the relative orientation of two images from uncalibrated camera.