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Direct Linear Transform (DLT) - A linear method to compute P from image–object point correspondences.- What is a P? The DLT matrix or camera projection matrix- Purpose : Project 3D → 2D with camera geometry (pose + intrinsics)$\mathbf{x}=KR[I_3\mid -{\mathbf{X}}_O]\mathbf{X}$or more compactly:𝑥=𝑃𝑋">The equation shows how a 3D point 𝑋 is projected to a 2D image point 𝑥: \(\mathbf{x} = ..

X: A 3D point projected to two cameras.u_i​, u_j: Corresponding image points in the two views.The line joining the two camera centers and X forms the epipolar plane.The intersections of this plane with each image plane form epipolar lines.The key idea: the corresponding point must lie on the epipolar line.Essential Matrix 𝐸 $${\mathbf{u}}_j^{\mathrm{\top }}\mathbf{E}{\mathbf{u}}_i=0$$..

This figure explains the concept of Homography in computer vision — specifically, how to map one image to another when viewing the same plane in the world from two different viewpoints (i.e., two different camera positions). C and C′ are two camera centers.A 3D point X lies on a plane π.The point projects to image 1 as ui​ and to image 2 as uj​.Because the point lies on the same plane, there's a..

BRIEF is not a feature detector—it is a feature descriptor. It describes a keypoint (like one detected using FAST) by encoding intensity comparisons between pairs of pixels in a small image patch.  Binary Descriptor ComputationFor a detected keypoint, take a square patch (e.g. S × S pixels).Pick pairs of points x and y inside this patch.For each pair, compare pixel intensities:  This gives a 1-b..

It's a fast corner detection method often used in real-time applications due to its speed and simplicity.  To determine if a pixel p is a corner, FAST uses:A circle of 16 pixels around the candidate pixel p.These pixels are tested to see if a segment of N contiguous pixels on the circle are all brighter or all darker than p by a threshold. Select 4 key pixels around p (in this example: pixels 1,..