Properties of essential matrices
Stephen J. Maybank · International Journal of Imaging Systems and Technology · 1990
Abstract We use essential matrices to show that if the recovery of camera displacement from image correspondences is unstable, then a small perturbation yields an ambiguous set of correspondences. We show that there are at most three camera displacements compatible with a dense set of correspondences, and we show that the symmetric and the antisymmetric parts of an essential matrix are related.