Minimal Problems for the Calibrated Trifocal Variety

Abstract

The recovery of three calibrated cameras from image data is investigated using tools from computational algebraic geometry. We determine the algebraic degree for various minimal problems. Our formulation is based on the calibrated trifocal variety in computer vision, which is the configuration space for three calibrated cameras. Some of our calculations are done using homotopy continuation software, and so they rely on pseudo-randomness and numerical accuracy.