Points of reference
We know both Euclidean and projective coordinates of the
points of reference:
;
( ).
Projective transformation matrix
Matrix is a matrix:
where is an arbitrary scalar because is defined up to a scale factor.
Equation
Letting and eliminating give
with
Solution
minimizing the following error function:
subject to . The solution is the eigenvector of associated to the smallest eigenvalue.
Author: Zhengyou Zhang
Email: zzhang@sophia.inria.fr