Single Value Decomposition of an Essential Matrix

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I don't know whether this is directly related to opencv. It might be more like a computer vision question.

Assuming you have an essential matrix E for a stereo system, I would like to know the geometric interpretation of u, s, v' in term of the stereo system (e.g. epipole, baseline, ...), once you decompose E using SVD.

I tried to dig in to the geometric interpretation of SVD, and it seems that u, v' are the rotation matrix, while s are the scale. Though I cannot really related them to the geometric of the stereo system.

Thank you.