Author: Faugeras
Year: 1988
- camera is moving in a static environment
- for points in a same plane, the transformation is a homography
- We can get plane equation and motion from homography
- theorem: $$ H_{12} = \alpha R + t n^T $$
- 8 solutions to this equation according to the multiplicity of the singular values of H:
- if 3 distinct values : 8 solutions
- if 2 distinct values : 4 solutions
- else it is undefined
- Degenerate cases:
- No translation
- translation orthogonal to plane