Compute the fundamental matrix from two given camera matrices

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Given two camera matrices, $P_1$ and $P_2$, compute the fundamental matrix $F$.

The formula for $F$ is $[K't]_x K'RK^{-1}$.

I am confused by the first part of the formula, $[K't]_x$, due to lack of mathematical knowledge. What does the subscript '$x$' mean?

Matlab may be used to solve the problem.

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2 Answers

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Take a look at this post:

The subscript "$x$" denotes a cross-product matrix.

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Look up "skew symmetric matrix". $[t]_X$ is a cross-product expressed as a matrix. Think for moment: a line is the cross-product of two points (in homogeneous co-ordinates). The fundamental matrix is telling you where epipolar lines are. Find two points, and you have the line (by cross product).

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