Update 03-epipolar-geometry.tex

03-epipolar-geometry/03-epipolar-geometry.tex

@@ -301,7 +301,7 @@ \section{Image Rectification}
 \end{equation}
 for some vector $v$. In practice, defining $M$ by setting $v^T=\begin{bmatrix}1 & 1 & 1\end{bmatrix}$ works very well.
 
-To finally solve for $H_1$, we need to compute the $\mathbf{a}$ values of $H_A$. Recall that we want to find a $H_1, H_2$ to minimize the problem posed in Equation~\ref{eq:rectification_minimization}. Since we already know the value of $H_2$ and $M$, then we can substitute $\hat{p}_i = H_2Mp_i$ and $\hat{p}_i' = H_2p_i'$ and the minimization problem becomes
+To finally solve for $H_1$, we need to compute the $\mathbf{a}$ values of $H_A$. Recall that we want to find a $H_1, H_2$ to minimize the problem posed in Equation~\ref{eq:rectification_minimization}. Since we already know the value of $H_2$ and $M$, then we can substitute $\hat{p}_i = H_AH_2Mp_i$ and $\hat{p}_i' = H_2p_i'$ and the minimization problem becomes
 \begin{equation}
 \arg \min_{H_A} \sum_i \|H_A\hat{p}_i - \hat{p}_i'\|^2 
 \end{equation}