Minimal Parameterization of Multiple View Geometry

Motivation: Fast and inexpensive processors, cameras, and storage are making feasible a variety of applications involving image sequences and collections, ranging from visually intelligent automobiles to enhanced sports viewing to home video manipulation. A prerequisite for many of these applications is knowledge of the physical positions of the cameras that captured the original images, whether it be a collection of stationary cameras placed around a common scene, or a single video camera capturing frames as it moves through an environment. Accurate estimation of the geometry of multiple views is the bedrock of such applications.