Hartley R., Zisserman A., Multiple View Geometry in Computer Vision (2nd ed.).pdf

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in computervision
Richard Hartley and Andrew Zisserman
CAMBRIDGE
ENGINEERING LIBRARY
Multiple View Geometry in Computer Vision
Second Edition
Richard Hartley
Australian National University,
Canberra, Australia
Andrew Zisserman
University of Oxford, UK
CAMBRIDGE
UNIVERSITY PRESS
PUBLISHED BY THE PRESS SYNDICATE OF THE UNIVERSITY OF CAMBRIDGE
The Pitt Building, Trumpington Street, Cambridge, United Kingdom
CAMBRIDGE UNIVERSITY PRESS
The Edinburgh Building, Cambridge, CB2 2RU, UK
40 West 20th Street, New York, NY 10011-4211, USA
477
Wiiiiamstown Road, Port Melbourne, VIC 3207, Australia
Ruiz de Alarcon 13, 28014 Madrid, Spain
Dock House, The Waterfront, Cape Town 8001, South Africa
http://www.cambridge.org
© Cambridge University Press 2000, 2003
This book is in copyright. Subject to statutory exception
and to the provisions of relevant collective licensing agreements,
no reproduction of any part may take place without the
written permission of Cambridge University Press.
First Published 2000
Reprinted 2001, 2002
Second Edition 2003
Printed in the United Kingdom at the University Press, Cambridge
A catalogue record for this book is available from the British Library
Library of Congress Cataloguing in Publication data
ISBN 0521 54051 8 hardback
Dedication
This book is dedicated to Joe Mundy whose vision and constant search for new ideas
led us into this field.
Contents
Foreword
Preface
1
Introduction - a Tour of Multiple
View
Geometry
1.1
Introduction - the ubiquitous projective geometry
1.2
Camera projections
1.3
Reconstruction from more than one view
1.4
Three-view geometry
1.5
Four view geometry and n-view reconstruction
1.6
Transfer
1.7
Euclidean reconstruction
1.8
Auto-calibration
1.9
The reward 1: 3D graphical models
1.10 The reward II: video augmentation
-•&'
page
xi
xiii
1
1
6
10
12
13
14
16
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18
19
PART 0: The Background: Projective Geometry, Transformations and Esti-
mation
23
Outline
24
2
Projective Geometry and Transformations of 2D
2.1
Planar geometry
2.2
The 2D projective plane
2.3
Projective transformations
2.4
A hierarchy of transformations
2.5
The projective geometry of ID
2.6
Topology of the projective plane
2.7
Recovery of affine and metric properties from images
2.8
More properties of conies
2.9
Fixed points and lines
2.10 Closure
Projective Geometry and Transformations of 3D
3.1
Points and projective transformations
3.2
Representing and transforming planes, lines and quadrics
v
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3

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