Table 3 Rotation matrix and unit translation vector results of the improved method
From: Calibration and rectification of vertically aligned binocular omnistereo vision systems
Essential matrix | Rotation matrix R | Unit translation vector \( \overline{\boldsymbol{T}} \) |
\( \boldsymbol{E}=\left[\begin{array}{c}\hfill 0.0257\hfill \\ {}\hfill 0.9996\hfill \\ {}\hfill 0.0084\hfill \end{array}\kern1em \begin{array}{c}\hfill 0.9993\hfill \\ {}\hfill -0.0255\hfill \\ {}\hfill 0.0283\hfill \end{array}\kern1em \begin{array}{c}\hfill 0.0040\hfill \\ {}\hfill -0.0011\hfill \\ {}\hfill 0.0001\hfill \end{array}\right] \) | \( \boldsymbol{R}=\left[\begin{array}{ccc}\hfill 0.9993\hfill & \hfill 0.0259\hfill & \hfill -0.0269\hfill \\ {}\hfill -0.0255\hfill & \hfill 0.9996\hfill & \hfill 0.0131\hfill \\ {}\hfill 0.0273\hfill & \hfill -0.0124\hfill & \hfill 0.9996\hfill \end{array}\right] \) | \( \overline{\boldsymbol{T}=\left[\begin{array}{c}\hfill 0.0010\hfill \\ {}\hfill 0.0040\hfill \\ {}\hfill -1.000\hfill \end{array}\right]} \) |