A Minimal Set of Constraints and a Minimal Parameterization for the Trifocal Tensor
نویسنده
چکیده
The topic of this paper is the so-called trifocal tensor (TFT), which describes the relative orientation of three uncalibrated images. The TFT is made up of 27 homogenous elements but only has 18 DOF. Therefore, its elements have to fulfil 8 constraints a new form for these constraints is presented in this paper. Furthermore, a new minimal parameterization for the TFT is presented having exactly 18 DOF and which is generally applicable for any arrangement of the three images provided not all three projection centers coincide. Constraints and parameterization are found using the so-called correlation slices.
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