EXPERIMENTAL RESULTS ON THE DETERMINATION OF THE TRIFOCAL TENSOR USING NEARLY COPLANAR POINT CORRESPONDENCES

In this article we examine the computation of the trifocal tensor from different view points: the minimization of algebraic or reprojection error, the consideration of the internal constraints, and the effect of nearly coplanar object points. It is shown using synthetic data, that a correct solution for the trifocal tensor can be obtained as long as the object points deviate from a common plane by at least 1 % of the viewing distance. Using real data it is shown that the orientation parameters derived from the tensor can be successfully used to initialize a subsequent bundle block adjustment.