Explain epipolar geometry with the help of a suitable diagram in stereo vision system.

Epipolar geometry is a fundamental concept in stereo vision systems within the domain of Digital Image Processing and Computer Vision. It describes the intrinsic projective geometry between two views of the same scene captured by two cameras. The relationship is based on the relative position and orientation of the cameras and helps in ___ _______ ________ ______ ___ ________ _________ _________ __________ ___ ____ __________.
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