| Multi-view geometry - SFM |
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| • | Projection |
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| equation |
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| xi=PiX |
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| • | Structure from |
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| motion (SFM) |
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| – | xi Pi,
X |
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| Given image points in at least 2 views calculate the
3D points |
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| (structure) and camera projection matrices (motion) |
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| • | Estimate
projective structure |
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| • | Rectify
the reconstruction to metric (autocalibration) |
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