Add to ORKGThe classical cameras in computer vision are central (pinhole) cameras. Rays of central cameras intersect in a single point, in the projection center. We propose to project space to images along more general arrangements of lines called non-central cameras and to develop the theory of stereo geometry of non-central cameras. The main contribution of the thesis is the conclusion that interesting research in computer vision is not limited to central cameras. We step beyond the existing paradigm of central projection and advance to a new paradigm of non-central projection. To show that the new paradigm is fruitful, we demonstrate that one of the most important concept in computer vision - stereo geometry - can be generalized to non-central came...