Projective minimal analysis of camera geometry
Raquel Romano, W. Eric L. Grimson, Olivier D. Faugeras · 2002
This thesis addresses the general problem of how to find globally consistent and accurate estimates of multiple-view camera geometry from uncalibrated imagery of an extended scene. After decades of study, the classic problem of recovering camera motion from image correspondences remains an active area of research. This is due to the practical difficulties of estimating many interacting camera parameters under a variety of unknown imaging conditions. Projective geometry offers a useful framework for analyzing uncalibrated imagery. However, the associated multilinear models -- the fundamental matrix and trifocal tensor -- are redundant in that they allow a camera configuration to vary along many more degrees of freedom than are geometrically admissible. This