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After corresponding elements have been found the 3D coordinates of the features can be computed, i.e. the two dimensional coordinates of the start and end point of a line are transformed into three dimensional space coordinates. Using Equation 2.3, the coordinates are given in reference to the camera coordinate system of the right camera. In this case the optical axis and the -coordinate of the coordinate system coincide. As in the previous section synthetic and real data is used to verify the accuracy of the 3D reconstruction.