基于外极线的三维运动估计 外极线方程 k k-k+1 k Mk+ EMk=o k+1 k+1 D)E/2 0 2 k+1 k+1 k x'=F F mh⊥1Em=0 (x+1yk+11)Eyk|=0基于外极线的三维运动估计 • 外极线方程 +1 k = 0 T Mk EM 0 1 ( 1) 1 1 1 1 =                   + + + + k k k k k k k k z y z x z y z x E 0 1 ( 1) 1 1 =               + + k k k k y x ~ ~ 0 x y E +1 k = T mk Em z y y  = F z x x  = F k k+1 z z