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Closed-form relationship between the two interpretations of a moving plane

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Abstract

It is well known that a pair of images of a textured planar surface captured from two different viewpoints can give rise to two interpretations for the orientation of the plane and the relative position and orientation of the camera at the two viewpoints. The relationship between these two solutions has been derived for the case in which the separation of the two viewpoints is small (one viewpoint position and orientation can be brought into coincidence with the other through an infinitesimal rotation and translation). I derive the relationship between the two interpretations for the case in which the baseline between the two camera positions can be arbitrarily large, and I show how one solution can be derived in terms of the other.

© 1990 Optical Society of America

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