Technical Report CIS9522

TR#:CIS9522
Class:CIS
Title: THE GENERALIZED TRILINEAR CONSTRAINTS AND THE UNCERTAINTY TENSOR.
Authors: A. Shashua and P. Anandan
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Abstract: The trilinear constraints of three perspective views were previously derived for point matches or line matches. We derive a new set of trilinear constraints, we call ``generalized trilinearities'', that are defined for points across three views {\em together} with their uncertainties. The generalized trilinearities reduce to those of Shashua [11] when the triplet of matching points are completely certain, otherwise the new trilinear constraints are {\em linear combinations} of the original constraints where the coefficients of the combination are determined by the uncertainty of the matching points.
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