Geometric interpretations of compatibility for fundamental matrices

In recent work, algebraic computational software was used to provide the exact algebraic conditions under which a six-tuple of fundamental matrices, corresponding to 4 images, is compatible, i.e., there exist 4 cameras such that each pair has the appropriate fundamental matrix. It has been further demonstrated that quadruplewise compatibility is sufficient when the number of cameras greater than 4. We expand on these prior results by proving equivalent geometric conditions for compatibility. We find that compatibility can be characterized via the intersections of epipolar lines in one of the images.