Multilinear Relationships between Coordinates of Corresponding Image Points and Lines

This paper describes how the fundamental matrix, F , the trifocal tensor T jk i and the quadrilinear relationship existing between corresponding points in four uncalibrated projective images may be derived in a common framework involving matrix determinants. Part of the paper contains a derivation of previous results, and is intended as a summary and reformulation. The derivations are based on the work of Faugeras and Mourrain [4] and Triggs [23, 22]. Some new results are included on the independence of the equations used to compute the trifocal and quadrilinear relationships, and methods of choosing those equations in a robust manner.