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Typical use case for epipolar geometry Two cameras take a picture of the same scene from different points of view. The epipolar geometry then describes the relation between the two resulting views.
Sketch 1: Instantaneous center P of a moving plane. The instant center of rotation (also known as instantaneous velocity center, [1] instantaneous center, or pole of planar displacement) of a body undergoing planar movement is a point that has zero velocity at a particular instant of time.