3.5. Multiple View Geometry
Multiple view geometry is the subject in which relations between coordinates of feature points in different views are studied. It is an important tool for understanding the image formation process for several cameras and for designing reconstruction algorithms. For a more detailed treatment, see [27] or [24], and for a different approach, see [26]. For the algebraic properties of multilinear constraints, see [30].
3.5.1. The structure and motion problem
The following problem is central in computer vision:
Problem 1. Structure and motion. Given a sequence of images with corresponding feature points Xij, taken by a perspective camera,
determine the camera matrices, Pi (motion) and the 3D points, Xj (structure), under ...
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