Figure 5.

An illustration (a) of how epipolar line segments were calculated. A ray is projected from the camera centre corresponding to the first image at $t_n$, through the location of a mango in the image-plane. The ray is clipped at two distances (constant for the whole orchard). The start and end points of the ray are then projected into the second image-plane at $t_{n+1}$. An example with real data is shown in (b) with a close-up in (c).