Multi-view geometry

Abstract

This chapter studies the geometry of a single view, two views, three views and N views. We will distinguish an uncalibrated setting from a calibrated one if necessary. The focus is on finding the algebraic solutions to the geometry problems with the minimal data. The entire multi-view geometry is condensed into the three fundamental algorithms: the five-point algorithm for two calibrated views, the six-point algorithm for three uncalibrated views and the seven-point algorithm for two uncalibrated views. Adding calibration and auto-calibration, this chapter is summarized into seven algorithms, which are the computational engine for the geometry of multiple views in ‘structure from motion’ of the next chapter.