Rotation and translation from Fundamental Matrix

1. What does the fundamental matrix tell us?
2. How do you calculate the fundamental matrix?
3. Why is the fundamental matrix rank 2?
4. Is fundamental matrix A homography?

What does the fundamental matrix tell us?

The fundamental matrix expresses the epipolar geometry in stereo images. The epipolar geometry in images taken with perspective cameras appears as straight lines. However, in satellite images, the image is formed during the sensor movement along its orbit (pushbroom sensor).

How do you calculate the fundamental matrix?

The fundamental matrix F may be written as F = [e′]×Hπ, where Hπ is the transfer mapping from one image to another via any plane π.

Why is the fundamental matrix rank 2?

The reason why F is a matrix with rank 2 is that it is mapping a 2D plane (image1) to all the lines (in image 2) that pass through the epipole (of image 2).

Is fundamental matrix A homography?

Fundamental matrix is independent of scene structure unlike homography which requires all the world points to lie on a plane. Thus, homography is a special case of fundamental matrix.