Epipolar geometry

Here, however, the problem is simplified by placing a virtual image plane in front of the focal center i.e. optical center of each camera lens to produce an image not transformed by the symmetry.

This conversion from 3D to 2D is referred to as a perspective projection and is described by the pinhole camera model.

It is common to model this projection operation by rays that emanate from the camera, passing through its focal center.

Both epipoles eL and eR in their respective image planes and both optical centers OL and OR lie on a single 3D line.

In contrast to the conventional frame camera which uses a two-dimensional CCD, pushbroom camera adopts an array of one-dimensional CCDs to produce long continuous image strip which is called "image carpet".

First, the epipolar line of pushbroom sensor is not straight, but hyperbola-like curve.

[4] However, in some special conditions, the epipolar geometry of the satellite images could be considered as a linear model.