Foreword
Preface
1 Introduction - a Tour of Multiple View Geometry 1
The Background: Projective Geometry, Transformations and Estimation 23
2 Projective Geometry and Transformations of 2D 25
3 Projective Geometry and Transformations of 3D 65
4 Estimation - 2D Projective Transformations 87
5 Algorithm Evaluation and Error Analysis 132
Camera Geometry and Single View Geometry 151
6 Camera Models 153
7 Computation of the Camera Matrix [Rho] 178
8 More Single View Geometry 195
Two-View Geometry 237
9 Epipolar Geometry and the Fundamental Matrix 239
10 3D Reconstruction of Cameras and Structure 262
11 Computation of the Fundamental Matrix F 279
12 Structure Computation 310
13 Scene planes and homographies 325
14 Affine Epipolar Geometry 344
Three-View Geometry 363
15 The Trifocal Tensor 365
16 Computation of the Trifocal Tensor [Tau] 391
N-View Geometry 409
17 N-Linearities and Multiple View Tensors 411
18 N-View Computational Methods 434
19 Auto-Calibration 458
20 Duality 502
21 Cheirality 515
22 Degenerate Configurations 533
Appendices 561
App. 1 Tensor Notation 562
App. 2 Gaussian (Normal) and [chi][superscript 2] Distributions 565
App. 3 Parameter Estimation 568
App. 4 Matrix Properties and Decompositions 578
App. 5 Least-squares Minimization 588
App. 6 Iterative Estimation Methods 597
App. 7 Some Special Plane Projective Transformations 628
Bibliography 634
Index 646