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8.3. A Brief Look at Some Advanced Ideas in Computer Vision 201
equivalent inhomogeneous formulation. Of course, there still is the little
matter of solving the linear system, but the DLT algorithm offers a solution
through singular value decomposition (SVD). For details of the SVD step,
which is a general and very useful technique in linear algebra, see [12].
Singular value decomposition factoriz es a matrix (which does not have to
be square) into the form A = LDV
T
,whereL and V are orthogonal matrices
(i.e., V
T
V = I) and D is a diagonal. (D is normally chosen to be square, but
it does not have to be.) So, for example, if A is 10 ×8thenL is ...