Table of Contents
Structure and motion reconstruction
Structure and motion from an uncalibrated sequence
The image sequence
Correspondence
Geometry
Equation count and scale ambiguity
Error minimization
Epipolar geometry
The `essential’ equation
Unknowns/constraints budget
Solving for the Q
Aside: finding null spaces
Unfolding Q into R and T
S acting on a vector:
Recovering T and R:
What about N frames?
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