Epipolar geometry

Fundamental geometric relationship between two perspective cameras:

epipole:

is the point of intersection of the line joining the optical centers - the baseline - with the image plane. The epipole is the image in one camera of the optical center of the other camera.

epipolar plane:

is the plane defined by a 3D point and the optical centers. Or, equivalently, by an image point and the optical centers.

epipolar line:

is the line of intersection of the epipolar plane with the image plane. It is the image in one camera of a ray through the optical center and the image point in the other camera. All epipolar lines intersect at the epipole.

Epipolar geometry provides a fundamental constraint for the correspondence problem