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nssampat

I get why we want the images to lie in the same plane but could you explain how making the epipolar lines horizontal helps us accomplish that? I'm having some trouble visualizing it.

motoole2

Projecting content onto the same image plane does not make the epipolar lines horizontal. Once the images are on a common image plane, we require a second operation to rotate it such that the plane is parallel to the stereo baseline / translation vector.