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| N-view geometry |
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| Affine factorization |
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| [Tomasi &Kanade ’92] |
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| • | Affine camera |
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| • | Projection |
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| • | n
points, m views: measurement matrix |
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| W: Rank 3 |
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| Assuming isotropic zero-mean Gaussian noise,
factorization achieves ML affine |
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| reconstruction. |
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