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UNR - Computer Vision Laboratory

Alignment Approach (cont’d) (Huttenlocher and Ullman, 1990)

Weak perspective model  (3 correspondences - O(m3n3) cases):

x’ = Π(sRx+b)

Π: orthographic projection

s: scale

R: 3D rotation

b: translation

Equivalent to an affine transformation (valid when object is far from camera and object depth small relative to distance from camera)

                                          x’=Lx+b

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