PPT
Computer Vision. The 2D projective plane and it’s applications HZ Ch 2. In particular: Ch 2.1-4, 2.7, Szelisky: Ch 2.1.1, 2.1.2 Estimation:HZ: Ch 4.1-4.2.5, 4.4.4-4.8 cursorly. Richard Hartley and Andrew Zisserman, Multiple View Geometry , Cambridge University Publishers, 2 nd ed. 2004.