Stereo and Perspective Calculations

Abstract

A brief introduction to use of projecting coordinates for hand-eye position computations. Some standard theorems. Appendix A reproduces parts of Roberts' thesis concerning homogenous coordinated and matching of perspectively transformed objects. Appendix B by Arnold Griffith derives the stereo calibration formulae using just the invariance of cross-ratios on projections of lines, and he describes a program that uses this.