2.2. Notation and Problem Statement
We start with the notation used in this chapter.
2.2.1. Pinhole camera model
A 2D point is denoted by m = [u, v]T. A 3D point is denoted by M = [X, Y, Z]T. We use 
to denote the augmented vector by adding 1 as the last element: 
and 
. A camera is modeled by the usual pinhole (see Figure 2.1): The image of a 3D point M, denoted by m, is formed by an optical ray from M passing through the optical center C and intersecting ...
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