Structure-from-Motion Revisited

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a planar scene [26]. Epipolar geometry [26] describes the relation for a moving camera through the essential matrix E (calibrated) or the fundamental matrix F (uncalibrated), and can be extended to three views using the trifocal ten-sor [26]. If a valid transformation maps a sufficient number of features between the images, they are considered ...

  Form, Structure, Motion, Epipolar, Structure from motion