The rank of trifocal grassmann tensors

Grassmann tensors arise from classical problems of scene reconstruction in computer vision. Trifocal Grassmann tensors, related to three projections from a projective space of dimension $k$ onto view spaces of varying dimensions, are studied in this work. A canonical form for the combined projection matrices is obtained. When the centers of projections satisfy a natural generality assumption, such canonical form gives a closed formula for the rank of trifocal Grassmann tensors. The same approach is also applied to the case of two projections, confirming a previous result obtained with different methods in [M. Bertolini, G. Besana, and C. Turrini, Ann. Mat. Pura Appl. (4), 196 (2016), pp. 539--553]. The rank of sequences of tensors converging to tensors associated with degenerate configurations of projection centers is also considered, giving concrete examples of a wide spectrum of phenomena that can happen