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Machine Vision, 3rd Edition by E. R. Davies

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CHAPTER 17 Tackling the Perspective n-point Problem

17.1 Introduction

This chapter tackles a problem of central importance in the analysis of images from 3-D scenes. It has been kept separate and fairly short so as to focus carefully on relevant factors in the analysis. First, we look closely at the phenomenon of perspective inversion, which has already been alluded to several times in Chapter 16. Then we refine our ideas on perspective and proceed to consider the determination of object pose from salient features which are located in the images. It will be of interest to consider how many salient features are required for unambiguous determination of pose.

17.2 The Phenomenon of Perspective Inversion

In this section, we first study the phenomenon ...

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