期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2000
卷号：XXXIII Part B3(/1+2)
页码：769-776
出版社：Copernicus Publications
摘要：About five years ago, in Computer Vision, a linear representation for the relative orientation of three images by means of the so-called Trifocal Tensor (TFT) was discovered using more parameters than necessary having no easily comprehensible geometric meaning compared to the notion of inner orientation (IOR) and exterior orientation (XOR). The relative orientation's fundamental condition of intersecting projection-rays for each homologous point-triple is described by four homogenous linear equations. The TFT also allows the usage of homologous image-lines for the relative orientation which is not possible for the relative orientation of two images. Each triple of homologous lines gives two linear equations. The TFT is made of 27 elements and so it can be computed linearly up to scale (since only homogenous equations are used) using ≥ 7 point-triples or ≥ 13 line-triples or combinations by means of a linear least- squares-adjustment minimising algebraic-error. Certain arrangements of the TFT's elements form matrices with interesting geometric properties, which can be used to compute the images IOR and XOR out of the tensor
