3.6. Structure and Motion I
We now study the structure and motion problem in detail. First, we solve the problem when the structure in known, called resection, then when the motion is known, called intersection. Then we present a linear algorithm to solve for both structure and motion using the multifocal tensors, and finally a factorization algorithm is presented. Again, refer to [24] for a more detailed treatment.
3.6.1. Resection
Problem 2 (Resection). Assume that the structure is given; that is, the object points, Xj, j = 1, … n, are given in some coordinate system. Calculate the camera matrices Pi, i = 1, … m from the images, that is, from xij.
The simplest solution to this problem is the classical DLT algorithm based on the fact that the ...
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