Trinocular Geometry Revisited

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

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When do the visual rays associated with triplets of point correspondences converge, that is, intersect in a common point? Classical models of trinocular geometry based on the fundamental matrices and trifocal tensor associated with the corresponding cameras only provide partial answers to this fundamental question, in large part because of underlying, but seldom explicit, general configuration assumptions. This paper uses elementary tools from projective line geometry to provide necessary and sufficient geometric 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 minimal 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), March, 2014.

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