| 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 |
| 36 |