Determination of stereo/motion parameters from two perspective views: the case of coincident meridional planes

The problem of determining stereo geometry (or, equivalently, motion parameters) from two perspective views is thoroughly explored in the case of coincident meridional planes. That is, the geometry is restricted to a rotation about the vertical (y-) axis and a translation in the horizontal (x-z) plane. This is the model used by photogrammetrists when they mount a stereo pair of aerial or satellite images on a stereoscopic viewer to chart depth at various points by parallax removal (Wolf 1983). More commonly, this is the case for human stereo vision too. The meridional planes are closely aligned and the ocular torsion, if any, is negligible