Question

Recall that the essential matrix E describing the stereo geometry of two calibrated cameras is a function only of the relative rotation and translational offset between the two cameras. Compute the essential matrix for the following camera configurations.
The Point Grey "Bumblebee" stereo camera is a "simple stereo" system having two cameras side-by-side with their optic axes parallel to each other. The baseline distance between the two cameras is 12 cm.
Compute the values of the 3x3 essential matrix E for this stereo system.

Answer 1

Answer:

The essential matrix in this case is given by      

         $E=[T_{x}]R=\left[\begin{array}{ccc}0&0&0\\0&0&d\\0&-d&0\end{array}\right]$

the values of the 3x3 essential matrix E for this stereo system

$E=[T_{x}]R=\left[\begin{array}{ccc}0&0&0\\0&0&0.12\\0&-0.12&0\end{array}\right]$

Explanation:

The explanation is shown on the first uploaded image