3.2. Projective Geometry

Projective geometry is a fundamental tool for dealing with structure from motion problems in computer vision, especially in multiple view geometry. The main reason is that the image formation process can be regarded as a projective transformation from a 3D to a 2D projective space. It is also a fundamental tool for dealing with autocalibration problems and examining critical configurations and critical motion sequences.

This section deals with the fundamentals of projective geometry, including the definitions of projective spaces, homogeneous coordinates, duality, projective transformations, and affine and Euclidean embeddings. For a traditional approach to projective geometry, see [9], and for more modern treatments, ...

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