In this paper, we use bold upper case for vectors in space, and bold
lower case for vectors in 2D images. The bold upper case is also used
for matrices. We first define a camera model. Consider a point
in a 3D space to be observed in the camera coordinates with
, so that
can be described by
with rotation,
, and position,
of camera with respect to the world coordinates:
Suppose
is projected onto an image point
by a pinhole camera whose internal parameters can be described by an
upper triangular matrix, i.e. calibration matrix,
[
7
]:
where,
is a
matrix, which is described by the focal length, horizontal and vertical
scales, skew and the principal point of the camera. In this paper, we
assume that the camera is uncalibrated, so that the calibration matrix,
, is unknown.
J. Sato
