Estimating Camera Geometry
This section explains how the estimation of camera geometry was performed
using the correspondences that were attained by the methods outlined in the previous section.
Most of the algorithms and equations used here were taken from outside sources. [1],[2]
The particular method of geometry estimation is called the “eight point” algorithm. A run through of this algorithm follows.
Figure 11 shows a similar camera set up as Figure 3. It can shown that the immediate consequence of knowing the
geometry allows us to set up a relation between the left and right views of a point Pi in the scene: 2.2.1