Use
The essential matrix can be seen as a precursor to the fundamental matrix. Both matrices can be used for establishing constraints between matching image points, but the essential matrix can only be used in relation to calibrated cameras since the inner camera parameters must be known in order to achieve the normalization. If, however, the cameras are calibrated the essential matrix can be useful for determining both the relative position and orientation between the cameras and the 3D position of corresponding image points.
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