Determining R and T From E
Given that the essential matrix has been determined for a stereo camera pair, for example, using the estimation method above this information can be used for determining also the rotation and translation (up to a scaling) between the two camera's coordinate systems. In these derivations is seen as a projective element rather than having a well-determined scaling.
The following method for determining and is based on performing a SVD of, see Hartley & Zisserman's book. It is also possible to determine and without an SVD, for example, following Longuet-Higgins' paper.
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