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Epipolar geometry of a stereopair can be expressed either in 3D, as the relative orientation (i.e. translation and rotation) of twobundles of optical rays in case of calibrated cameras or, in case of unclalibrated cameras, in 2D as the position of the epipoles on theimage planes and a projective transformation that maps points in one image to corresponding epipolar lines on the other. The typicalcoplanarity equation describes the first case; the Fundamental matrix describes the second. It has also been proven in the ComputerVision literature that 2D epipolar geometry imposes two independent constraints on the parameters of camera interior orientation. Inthis contribution these constraints are expressed directly in 3D Euclidean space by imposing the equality of the dihedral angle ofepipolar planes defined by the optical axes of the two cameras or by suitably chosen corresponding epipolar lines. By means of theseconstraints, new closed form algorithms are proposed for the estimation of a variable or common camera constant value given thefundamental matrix and the principal point position of a stereopair

A EUCLIDEAN FORMULATION OF INTERIOR ORIENTATION COSTRAINTS IMPOSED BY THE FUNDAMENTAL MATRIX