Analytical methods for uncalibrated stereo and motion reconstruction

We present a new approach to relative stereo and motion reconstruction from a discrete set of point correspondences in completely uncalibrated pairs of images. This approach also yields new projective invariants, and we present some applications to object recognition. Finally, we introduce a new approach to camera self-calibration from two images which allows full metric reconstruction up to some unknown scale factor. We have implemented the proposed methods and present examples using real images.