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Multiple View Geometry In Computer Vision Math 607 - page 11 / 37

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Homogeneous coordinates

Homogeneous representation of lines

equivalence class of vectors, any vector is representative

Set of all equivalence classes in R3(0,0,0)T forms P2

Homogeneous representation of points

on

if and only if

The point x lies on the line l if and only if xTl=lTx=0

Homogeneous coordinates

Inhomogeneous coordinates

but only 2 DOF

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