Multiple View Geometry in Computer Vision
By Richard Hartley
By Andrew Zisserman
Publisher: Cambridge University Press
Print Publication Year: 2004
Online Publication Date:January 2011
Chapter DOI: http://dx.doi.org/10.1017/CBO9780511811685.002
Over the past decade there has been a rapid development in the understanding and modelling of the geometry of multiple views in computer vision. The theory and practice have now reached a level of maturity where excellent results can be achieved for problems that were certainly unsolved a decade ago, and often thought unsolvable. These tasks and algorithms include:
The distinctive flavour of these algorithms is that they are uncalibrated – it is not necessary to know or first need to compute the camera internal parameters (such as the focal length).
Underpinning these algorithms is a new and more complete theoretical understanding of the geometry of multiple uncalibrated views: the number of parameters involved, the constraints between points and lines imaged in the views; and the retrieval of cameras and 3-space points from image correspondences.