Abstract. A set of fundamental matrices relating pairs of cameras in
some configuration can be represented as edges of a “viewing graph”.
Whether or not these fundamental matrices are generically sufficient
to recover the global camera configuration depends on the structure of
this graph. We study characterizations of “solvable” viewing graphs, and
present several new results that can be applied to determine which pairs
of views may be used to recover all camera parameters. We also discuss
strategies for verifying the solvability of a graph computationally