| Triangulation |
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| Method I:
intersect viewing rays in 3D, |
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| minimize: |
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| • | X is the
unknown 3D point |
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| • | Cj
is the optical center of camera j |
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| • | Vj
is the viewing ray for pixel (uj,vj) |
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| • | sj
is unknown distance along Vj |
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| Advantage:
geometrically intuitive |
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| X |
