# Derivation of Epipolar Line

Hi i have this mathematical doubt about derivation of epipolar lines...in a book i read the following..  i cannot understand how the cross product of e' x x' giving the epipolar line l'...please can any one explain the maths or refer me to some reference...my google search and vector geometry classes not helping yet..!!

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You can read the following,it details the proof which you require that how cross product result in the line containing them

regards waqar

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Thanks waqar for useful reference.

So, in the figure in question, if e' and x' are represented in homogenous coordinates then their cross-product will represent a normal to the plane which passes through e',x' and origin (0,0,0) of homogenous coordinate system. And intersection between this plane and Z=W, where e'=(x1,y1,W) and x'=(x2,y2,W), will be the line l' hence l' can be represented as cross product of e' and x'.

Thanks for your comment as it preserves some knowledge. The original slides are not available anymore...

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