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1、incomputervisionRichardHartleyandAndrewZissermanwww.aibbt.com专注人工智能CAMBRIDGEENGINEERINGLIBRARYMultipleViewGeometryinComputerVisionSecondEditionRichardHartleyAustralianNationalUniversity,Canberra,AustraliaAndrewZissermanUniversityofOxford,UKCAMBRIDGEUNIVERSITYPRESSwww.
2、aibbt.com专注人工智能PUBLISHEDBYTHEPRESSSYNDICATEOFTHEUNIVERSITYOFCAMBRIDGEThePittBuilding,TrumpingtonStreet,Cambridge,UnitedKingdomCAMBRIDGEUNIVERSITYPRESSTheEdinburghBuilding,Cambridge,CB22RU,UK40West20thStreet,NewYork,NY10011-4211,USA477WiiiiamstownRoad,PortMelbourne,VIC
3、3207,AustraliaRuizdeAlarcon13,28014Madrid,SpainDockHouse,TheWaterfront,CapeTown8001,SouthAfricahttp://www.cambridge.org©CambridgeUniversityPress2000,2003Thisbookisincopyright.Subjecttostatutoryexceptionandtotheprovisionsofrelevantcollectivelicensingagreements,Thisbook
4、noreproductionofanypartmaytakeplacewithouttheledusintcwrittenpermissionofCambridgeUniversityPress.FirstPublished2000Reprinted2001,2002SecondEdition2003PrintedintheUnitedKingdomattheUniversityPress,CambridgeAcataloguerecordforthisbookisavailablefromtheBritishLibraryLib
5、raryofCongressCataloguinginPublicationdataISBN0521540518hardbackwww.aibbt.com专注人工智能DedicationThisbookisdedicatedtoJoeMundywhosevisionandconstantsearchfornewideasledusintothisfield.www.aibbt.com专注人工智能ContentsForewordpagexiPrefacexiii1Introduction-aTourofMultipleViewGeo
6、metry11.1Introduction-theubiquitousprojectivegeometry11.2Cameraprojections61.3Reconstructionfrommorethanoneview101.4Three-viewgeometry121.5Fourviewgeometryandn-viewreconstruction131.6Transfer141.7Euclideanreconstruction161.8Auto-calibration171.9Thereward1:3Dgraphicalm
7、odels181.10TherewardII:videoaugmentation19-•&'PART0:TheBackground:ProjectiveGeometry,TransformationsandEsti•mation23Outline242ProjectiveGeometryandTransformationsof2D252.1Planargeometry252.2The2Dprojectiveplane262.3Projectivetransformations322.4Ahierarchyoftransformat
8、ions372.5TheprojectivegeometryofID442.6Topologyoftheprojectiveplane462.7Recoveryofaffineandmetricpropertiesfromimages472.8Mo
