# Geometric Interpretations of the Normalized Epipolar Error

arXiv: https://arxiv.org/abs/2008.01254 · HTML: https://mlsanity.com/paper/2008.01254/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Aug 2020.

## Built on by (most cited first, 6 of 6)

- [HARA: A Hierarchical Approach for Robust Rotation Averaging](https://mlsanity.com/paper/2111.08831/) (2021)
- [The Probabilistic Normal Epipolar Constraint for Frame-To-Frame Rotation Optimization under Uncertain Feature Positions](https://mlsanity.com/paper/2204.02256/) (2022)
- [Fast and Robust Certifiable Estimation of the Relative Pose Between Two Calibrated Cameras](https://mlsanity.com/paper/2101.08524/) (2021)
- [From Correspondences to Pose: Non-minimal Certifiably Optimal Relative Pose without Disambiguation](https://mlsanity.com/paper/2312.05995/) (2023)
- [DAC: Detector-Agnostic Spatial Covariances for Deep Local Features](https://mlsanity.com/paper/2305.12250/) (2023)
- [Visual Sync: Multi-Camera Synchronization via Cross-View Object Motion](https://mlsanity.com/paper/2512.02017/) (2025)

## Abstract (arXiv)

In this work, we provide geometric interpretations of the normalized epipolar error. Most notably, we show that it is directly related to the following quantities: (1) the shortest distance between the two backprojected rays, (2) the dihedral angle between the two bounding epipolar planes, and (3) the L1-optimal angular reprojection error.