In this chapter, the relations between multiple views of a 3D scene were discussed. The discussion started by introducing the basic concepts of projective geometry and tensor calculus. Then, the pinhole camera model, the epipolar geometry, and the multiple view tensors were discussed. Next, approaches that rely on those concepts to recover both the structure and motion from a sequence of images were presented and illustrated with some real-world examples and applications.
The authors wish to acknowledge the financial support of the EU projects InViews, Attest, Vibes, and Murale, as well as the contributions of their (former) colleagues in Leuven and Lund, where most of the presented work was carried out. Luc Van ...