Computer Vision Primer
Epipolar Geometry — Reading Depth and Camera Motion from Two Images
Epipolar geometry is the theory that constrains how the same 3D point projects into two images. This article systematically explains the Fundamental Matrix and Essential Matrix, the 8-point and 5-point algorithms, RANSAC, triangulation, the choice between epipolar geometry and homography, calibration, OpenCV/COLMAP implementation, failure conditions, and recent learning-based estimation, with equations and diagrams.