Trifocal tensor

From Wikipedia, the free encyclopedia

In computer vision, the trifocal tensor can be considered as the generalization of the fundamental matrix in three views. It is a tensor that incorporates all projective geometric relationships between three views and is independent of the scene structure, depending only on the relative motion (i.e. pose) among the views and their intrinsic calibration parameters. Thus, the tensor can be calculated in closed form from the projection matrices of the three views. However, in practice the tensor is estimated from point and line matches across the three views.

One of the most important properties of the tensor is that it can be used to transfer corresponding points or lines in two views to the corresponding point or line in the third view.

[edit] References

  • Richard Hartley and Andrew Zisserman (2003). Multiple View Geometry in computer vision. Cambridge University Press. ISBN 0-521-54051-8.  Chapter on tensor is online [1]
  • Richard I. Hartley (1997). "Lines and Points in Three Views and the Trifocal Tensor". International Journal of Computer Vision 22(2): 125-140. 
  • Philip Torr and Andrew Zisserman (1997). "Robust Parameterization and Computation of the Trifocal Tensor". Image and Vision Computing 15(8): 591-607. 

[edit] External links