| Degenerate configurations |
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| • | Pure translation: affine transformation (5 DOF) |
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| • | Pure rotation: arbitrary pose for
(3 DOF) |
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| • | Planar motion: scaling axis perpendicular to plane |
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| (1DOF) |
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| • | Orbital motion: projective distortion along rotation axis |
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| (2DOF) |
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| Not unique solution ! |