Classical multiple-view geometry studies the reconstruction of a static scene - served by a rigidly moving camera. However, in many real-world applications the scene may undergo much more complex dynamical changes. For instance, the scene may consist of multiple moving objects (e.g., a tra?c scene) or arti- lated motions (e.g., a walking human) or even non-rigid dynamics (e.g., smoke, ?re, or a waterfall). In addition, some applications may require interaction with the scene through a dynamical system (e.g., vision-guided robot navigation and coordination). To study the problem of...

This book is intended to give students at the advanced undergraduate or introduc- tory graduate level, and researchers in computer vision, robotics and computer graphics, a self-contained introduction to the geometry of three-dimensional (3- D) vision. This is the study of the reconstruction of 3-D models of objects from a collection of 2-D images. An essential prerequisite for this book is a course in linear algebra at the advanced undergraduate level. Background knowledge in rigid-body motion, estimation and optimization will certainly improve the reader's appreciation of the material but...