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Multiple-View Geometry

Chapter 1: Introduction
Projective Geometry
preserve straightness
Projective in homogeneous coordinates: both(x,y,1)(x, y, 1)(x,y,1)
and(x,y,0)(x, y, 0)(x,y,0)
are defined
Affine Geometry
In Projective Space, we single out a particular line and call it the line at infinity.
With this line at infinity, we are able to define parallelism, and equal length of two intervals.
Euclidean Geometry
In Affine Geometry, we further single out two circular points in the line at infinity. 
Two circular points: (1,±i,0)T(1, ±i, 0)^\mathrm{T}(1,±i,0)T
which satisfy a pair of real equations: x2+y2=0;w=0x^2 + y^2 = 0; w = 0x2+y2=0;w=0
. 
With two circular points, we are able to define angle and length ratios.
Representation: (x,y)(x, y)(x,y)
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Epipolar Geometry

Next - Algorithm

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