title: 3D Correspondences from fundamental matrix
body: <p>In MATLAB I have calculated the <a href="http://en.wikipedia.org/wiki/Fundamental_matrix_%28computer_vision%29" rel="nofollow noreferrer">Fundamental matrix</a> (of two images) using the normalized <a href="http://en.wikipedia.org/wiki/Eight-point_algorithm" rel="nofollow noreferrer">Eight point algorithm</a>. From that I need to <a href="http://en.wikipedia.org/wiki/Triangulation_%28computer_vision%29" rel="nofollow noreferrer">triangulate</a> the corresponding image points in 3D space. From what I understand, to do this I would need the rotation and translation of the image's cameras. The easiest way of course would be <a href="http://www.vision.caltech.edu/bouguetj/calib_doc/" rel="nofollow noreferrer">calibrate the cameras</a> first then take the images, but this is too constricting for my application as it would require this extra step.</p>
  
  <p>So that leaves me with <a href="http://en.wikipedia.org/wiki/Camera_auto-calibration" rel="nofollow noreferrer">auto (self) camera calibration</a>. I see mention of <a href="http://en.wikipedia.org/wiki/Bundle_adjustment" rel="nofollow noreferrer">bundle adjustment</a>, however in <a href="http://books.google.com/books?id=jCsZ5rdwgqMC&amp;lpg=PP1&amp;ots=MjhMWP74VG&amp;dq=an%20invitation%20to%203d%20vision&amp;pg=PA167#v=onepage&amp;q=&amp;f=false" rel="nofollow noreferrer">An Invitation to 3D Vision</a> it seems it requires an initial translation and rotation, which makes me think that a calibrated camera is needed or my understanding is falling short.</p>
  
  <p>So my question is how can I automatically extract the rotation/translation so I can reprojected/triangulate the image points into 3D space. Any MATLAB code or pseudocode would be fantastic.</p>