Concept
structure from motion — where it appears
2 essays name this object, across one field. What follows is each of them, and the objects they name alongside it.
The track and the scene together
Six photographs go in and one hundred and sixty-eight numbers come out — every camera's position and orientation and every point's place in space, solved for at once. Nothing in the solve was ever told where a camera or a point was.
A chain and an adjustment
Composing pairwise poses along a sequence is supposed to drift. Measured over five links it wanders instead — one chain ends closer to the truth than its own worst link — and the real cost of chaining turns out to be something else entirely.
Named alongside it
The objects these essays reach for when they reach for this one.
bundle adjustmentcamera trackBaselineDriftgauge freedomJacobianrandom walkRelative poseReprojection errorSimilarityTriangulation