Trinocular Geometry Revisited

Jean Ponce and Martial Hebert
Proc. Computer Vision and Pattern Recognition (CVPR), 2014, , March, 2014

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When do the visual rays associated with triplets2 of point 3 y ξ1 ξ correspondences converge, that is, intersect in a common π3 point? Classical models of trinocular geometry based on c1 c2 the fundamental matrices and trifocal tensor associated π1 y1 π2 y2 with the corresponding cameras only provide partial an- swers to this fundamental question, in large part because of underlying, but seldom explicit, general configuration as- sumptions. This paper uses elementary tools from projec- tive line geometry to provide necessary and sufficient geo- metric and analytical conditions for convergence in terms of transversals to triplets of visual rays, without any such assumptions. In turn, this yields a novel and simple min- imal parameterization of trinocular geometry for cameras with non-collinear or collinear pinholes.


Text Reference
Jean Ponce and Martial Hebert, "Trinocular Geometry Revisited," Proc. Computer Vision and Pattern Recognition (CVPR), 2014, , March, 2014

BibTeX Reference
   author = "Jean Ponce and Martial Hebert",
   title = "Trinocular Geometry Revisited",
   journal = "Proc. Computer Vision and Pattern Recognition (CVPR), 2014",
   month = "March",
   year = "2014",