Over the last forty years, researchers have made great strides in elucidating thelaws of image formation, processing, and understanding by animals, humans, and machines. This bookdescribes the state of knowledge in one subarea of vision, the geometric laws that relate differentviews of a scene. Geometry, one of the oldest branches of mathematics, is the natural language fordescribing three-dimensional shapes and spatial relations. Projective geometry, the geometry thatbest models image formation, provides a unified framework for thinking about many geometric problemsrelevant to vision. The book formalizes and analyzes the relations between multiple views of a scenefrom the perspective of various types of geometries. A key feature is that it considers Euclideanand affine geometries as special cases of projective geometry.Images play a prominent role incomputer communications. Producers and users of images, in particular three-dimensional images,require a framework for stating and solving problems. The book offers a number of conceptual toolsand theoretical results useful for the design of machine vision algorithms. It also illustratesthese tools and results with many examples of real applications.
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