文档介绍：This page intentionally left blank Multiple View puter Vision Second Edition Richard Hartley Australian National University, Canberra, Australia Andrew Zisserman University of Oxford, UK ???????????????????????? Cambridge, New York, Melbourne, Madrid, Cape Town, Singapore, S?o Paulo Cambridge University Press The Edinburgh Building, Cambridge ??????, UK First published in print format ????-?? ???-?-???-?????-?????-?? ???-?-???-?????-?? Cambridge University Press 2000, 2003 2004 Information on this title: .or g /9780521540513 This publication is in copyright. Subject to statutory exception and to the provision of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of Cambridge University Press. ????-?? ?-???-?????-?????-?? ?-???-?????-? Cambridge University Press has no responsibility for the persistence or accuracy of ??? s for external or third-party websites referred to in this publication, and does not guarantee that any content on such websites is, or will remain, accurate or appropriate. Published in the United States of America by Cambridge University Press, New York a p erback eBook (EBL) eBook (EBL) p a p erback Dedication This book is dedicated to Joe Mundy whose vision and constant search for new ideas led us into this ?eld. Contents Foreword page xi Preface xiii 1 Introduction – a Tour of Multiple View Geometry 1 Introduction – the ubiquitous projective geometry 1 Camera projections 6 Reconstruction from more than one view 10 Three-view geometry 12 Four view geometry and n-view reconstruction 13 Transfer 14 Euclidean reconstruction 16 Auto-calibration 17 The reward I : 3D graphical models 18 The reward II: video augmentation 19 PART 0: The Background: Projective Geometry, Transformations and Esti- mation 23 Outline 24 2 Projective Geometry and Transformations of 2D 25 Planar geometry 25 The 2D projective plane 26