| Constraints ? |
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| • | Scene constraints |
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| – | Parallellism,
vanishing points, horizon, ... |
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| – | Distances,
positions, angles, ... |
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| Unknown
scene ® no constraints |
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| • | Camera extrinsics
constraints |
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| – | Pose,
orientation, ... |
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| Unknown
camera motion ® no constraints |
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| Perspective
camera model too general |
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| ® some constraints |
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