内容

目次

1. Introduction - a tour of multiple view geometry; Part 0. TheBackground: Projective Geometry, Transformations and Estimation: 2.Projective geometry and transformations of 2D; 3. Projective geometry andtransformations of 3D; 4. Estimation - 2D projective transforms; 5. Algorithmevaluation and error analysis; Part I. Camera Geometry and Single ViewGeometry: 6. Camera models; 7. Computation of the camera matrix; 8. Moresingle view geometry; Part II. Two-View Geometry: 9. Epipolar geometry andthe fundamental matrix; 10. 3D reconstruction of cameras and structure; 11.Computation of the fundamental matrix F; 12. Structure computation; 13. Sceneplanes and homographies; 14. Affine epipolar geometry; Part III. Three-ViewGeometry: 15. The trifocal tensor; 16. Computation of the trifocal tensor T;Part IV. N -View Geometry: 17. N-linearities and multiple view tensors; 18.N-view computational methods; 19. Auto-calibration; 20. Duality; 21.Chirality; 22. Degenerate configurations; Part V. Appendices: Appendix 1.Tensor notation; Appendix 2. Gaussian (normal) and chi-squared distributions;Appendix 3. Parameter estimation. Appendix 4. Matrix properties anddecompositions; Appendix 5. Least-squares minimization; Appendix 6. IterativeEstimation Methods; Appendix 7. Some special plane projectivetransformations; Bibliography; Index.