Simultaneous Reconstruction of Scene Structure and Camera Locations from Uncalibrated Image Sequences
The paper deals with the structure-motion problem for images of point configurations taken by uncalibrated cameras. Using a parametrisation by affine shape and kinetic depth, a complete and explicit characterisation of the imaging geometry is given, including the shape of the object configuration and the positions of the cameras relative to the scene. No epipolar geometry is used. It is shown that