Reconstruction from Two Calibrated Views
In this chapter we begin unveiling the basic geometry that relates images of points to their 3-D position. We start with the simplest case of two calibrated cameras, and describe an algorithm, first proposed by the British psychologist H.C. Longuet-Higgins in 1981, to reconstruct the relative pose (i.e. position and orientation) of the cameras as well as the locations of the points in space from their projection onto the two images.