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By Lefschetz S.

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The affine matrix A is hence seen to be the concatenation of a rotation (by φ); a scaling by λ1 and λ2 respectively in the (rotated) x and y directions; a rotation back (by −φ); and finally another rotation (by θ).

Conceptually transfer is straightforward given that a reconstruction is possible. 6 Transfer 15 (b) (c) (a) Fig. 3. Reconstruction. (a) Seven frames of a 700 frame sequence acquired by a hand held camera whilst walking down a street in Oxford. (b)(c) Two views of the reconstructed point cloud and camera path (the red curve). com). 16 1 Introduction – a Tour of Multiple View Geometry Fig. 4. Projective ambiguity: Reconstructions of a mug (shown with the true shape in the centre) under 3D projective transformations in the Z direction.

This relationship means that there is a point X in space that maps to x in the first image, and to points x and x lying on the lines l and l in the other two images. The coordinates of these three images are then related via the trifocal tensor relationship: xi lj lk Tijk = 0. 2) ijk This relationship gives a single linear relationship between the elements of the tensor. 5 Four view geometry and n-view reconstruction 13 elements of the tensor. Fortunately, one can obtain more equations from a point correspondence x ↔ x ↔ x .

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