This book is dedicated to Joe Mundy whose vision and constant search for new ideas led us into this field.
Introduction – a Tour of Multiple View Geometry 1
1.1 Introduction – the ubiquitous projective geometry 1
1.2 Camera projections 6
1.3 Reconstruction from more than one view 10
1.4 Three-view geometry 12
1.5 Four view geometry and n-view reconstruction 13
1.6 Transfer 14
1.7 Euclidean reconstruction 16
1.8 Auto-calibration 17
1.9 The reward I : 3D graphical models 18
1.10 The reward II: video augmentation

(i) Estimation of the multifocal tensors from image point correspondences, particularly
the fundamental matrix and trifocal tensors (the quadrifocal tensor
having not received so much attention).
(ii) Extraction of the camera matrices from these tensors, and subsequent projective
reconstruction from two, three and four views.