Abstract

Given the pro jection of a sufficient number of points it is pos- sible to algebraically eliminate the camera parameters and obtain view- invariant functions of image coordinates and space coordinates. These single view invariants have been introduced in the past, however, they are not as well understood as their dual multi-view tensors. In this paper we revisit the dual tensors (bilinear, trilinear and quadlinear), both the gen- eral and the reference-plane reduced version, and describe the complete set of synthetic constraints, properties of the tensor slices, repro jection equations, non-linear constraints and reconstruction formulas. We then apply some of the new results, such as the dual repro jection equations, for multi-view point tracking under occlusions.