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so welcome everyone to todays lecture and I want to talk today about the fundamental matrix and the essential matrix and we are specially interested here in actually computing both matrices but now Im not taking into account projection matrices or the exterior interior information but we want to estimate this from data so we assume just to have images taken from the same scene a pair of images and we want to estimate the fundamental matrix or the essential matrix that means one estimate where those cameras have been located relative to each other when they took two images so just let me know straight how that could look like so consider we have those two images here from Paris and we want to know where has the photographer beam when taking one image with respect to the other image and this is exactly a task that we aim at doing without knowing how large the object is or how the object exactly look like the only thing we assume to know is that we have corresponding points in those ima