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Recall that the essential matrix E describing the stereo geometry of two calibrated cameras is a function only of the relative rotation and translational offset between the two cameras. Compute the essential matrix for the following camera configurations.
The Point Grey "Bumblebee" stereo camera is a "simple stereo" system having two cameras side-by-side with their optic axes parallel to each other. The baseline distance between the two cameras is 12 cm.
Compute the values of the 3x3 essential matrix E for this stereo system.

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Answer:

The essential matrix in this case is given by      

         [tex]E=[T_{x}]R=\left[\begin{array}{ccc}0&0&0\\0&0&d\\0&-d&0\end{array}\right][/tex]

the values of the 3x3 essential matrix E for this stereo system

[tex]E=[T_{x}]R=\left[\begin{array}{ccc}0&0&0\\0&0&0.12\\0&-0.12&0\end{array}\right][/tex]

Explanation:

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