Some Properties of the E Matrix in Two-View Motion Estimation

T. S. Huang, O. D. Faugeras

Research output: Contribution to journalArticlepeer-review


In the eight-point linear algorithm for determining 3-D motion/structure from two perspective views using point correspondences, the E matrix occupies a central role. The E matrix is defined as a skew-symmetrical matrix (containing the translation components) postmultiplied by a rotation matrix. In this correspondence, we show that a necessary and sufficient condition for a 3 x 3 matrix to be so decomposable is that one of its singular values is zero and the other two are equal. Several other forms of this property are also presented. Finally, some applications are briefly described.

Original languageEnglish (US)
Pages (from-to)1310-1312
Number of pages3
JournalIEEE transactions on pattern analysis and machine intelligence
Issue number12
StatePublished - Dec 1989
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics


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