Possible typo in 40.3.4.1 The fundamental matrix

[mikk-kruusalu]

In the book we have the relationship between the fundamental and essential matrix stated as

$$\mathbf{F} = \mathbf{K}^{-\top} \mathbf{E} \mathbf{K}^\top.$$

I understand that this relationship can be found from (40.5) by substituting

$$\mathbf{P} = \mathbf{K}^{-1} \mathbf{c}.$$

By doing this I obtain

$$\mathbf{F} = \mathbf{K}^{-\top} \mathbf{E} \mathbf{K}^{-1}.$$

Checking other sources online seem to confirm my suspicion

1. Equation 8.4 in https://www.robots.ox.ac.uk/~vgg/hzbook/hzbook1/HZepipolar.pdf
2. https://en.wikipedia.org/wiki/Fundamental_matrix_(computer_vision)

[francisengelmann]

You are right