This book introduces the geometry of 3-D vision, that is, the reconstruction of 3-D models of objects from a collection of 2-D images. It details the classic theory of two view geometry and shows that a more proper tool for studying the geometry of multiple views is the so-called rank consideration of the multiple view matrix. It also develops practical reconstruction algorithms and discusses possible extensions of the theory.
This book is intended to give undergraduate and beginning graduate
students and researchers in computer vision, applied mathematics,
robotics, and computer graphics a self-contained introduction to the
geometry of 3D vision. Exercises are provided at the end of each