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...Visual navigation for autonomous vehicles vnav fall lecture view geometry lecturer luca carlone scribes disclaimer these notes have not been subjected to the usual scrutiny reserved formal publications they may be distributed outside this class only with permission of instructor s discusses basic principles calibrated cameras epipolar constraint essential matrix how compute from pixel correspondences in camera images estimate relative pose up scale between two presentation mostly follows chapter and we know keypoint using feature tracking or descriptor based matching other words given a x image i are able corresponding assuming picturing same scene note that pixels refers fact picture d point our goal is taking e number towards take main assumptions correct every correspondence do represent will relax assumption during next since practice many wrong also assume does move calibration matrices f o k y each known an acceptable robotics where can typically calibrate on robots before deploy...