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Scene planes and homographies. Homographies given the plane and vice versa. Proof of result 12.1. Example 12.2 A calibrated stereo rig. A calibrated stereo rig 2. A calibrated stereo rig 3. The homography induced by a plane Fig.12.1. Fig 12.1 Legend.

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## Scene planes and homographies

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**13.6 Plane induced homographies given F and image**correspondences:(a) 3 points, (b) a line and a point**Degenerate geometry for an implicit computation of the**homography Fig. 12.3**Determining the points Xi is not necessary in first method**All that is important**Algorithms 12.1 The optimal estimate of homography induced**by a plane defined by 3 points**A one parameter family of homographies**Fig 12.4 (a), (b)**Geometric interpretation of the point map H(m)**Explore the

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