Chapter 10. Estimating Projective Relations in Images

In this chapter, we will cover the following recipes:

  • Computing the fundamental matrix of an image pair
  • Matching images using random sample consensus
  • Computing a homography between two images
  • Detecting a planar target in images


Images are generally produced using a digital camera, which captures a scene by projecting light going through its lens onto an image sensor. The fact that an image is formed by the projection of a 3D scene onto a 2D plane implies the existence of important relationships both between a scene and its image and between different images of the same scene. Projective geometry is the tool that is used to describe and characterize, in mathematical terms, the process ...

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