Theory of Reconstruction from Image Motion

the long version

"Theory of Reconstruction from Image Motion" presents the mathematics underlying the reconstruction of camera motion from the movements of points in the camera image. It describes recent work employing mathematical methodsdrawn from linear algebra, projective geometry, algebraic geometry, the theory of transversality and the theory of least squares approximation. Manyproblems in reconstruction are best tackled using methods from projective oralgebraic geometry. However, these methods are not widely known to researchers in computer vision. As a consequence, purely algebraic methods are often used instead, leading to large and complicated expressions, which are difficult to interpret. Many of the arguments in thisvolume illustrate the speed and efficiency of geometric methods for solving certain problems that arise in reconstruction. This book is a good starting point for anyone interested in the application of different mathematical techniques to the rapidly expanding field of computer vision, especially in the areas of vehicle guidance, robotics and remote sensing.