Extension to General Incidence Relations
This chapter1 extends development in the previous chapter to the study of all incidence relations among different geometric primitives in 3-D space and in multiple images (e.g., intersection and coplanarity). We will demonstrate how incidence relations among multiple points, lines, and planes in space can be encoded in multiple images through the same matrix rank conditions. Such a generalization reveals additional instances that give rise to some nontrivial constraints among features in multiple views. This revelation will in turn lead to a more general class of techniques for structure and motion recovery that can use a multitude of geometric features simultaneously and exploit arbitrary incidence relations among them.