next up previous
Next: Internal Geometry and Projection Up: The Proposed Nonlinear Recursive Previous: The Dynamical System


In order to develop a dynamic system with robustness and numerical stability for SfM geometry calculations, one must interpret the SfM problem in an appropriate representation. For instance, the representation should not contain degeneracies, numerical ill-conditioning or intractable coupling between variables. Herein, we shall develop a practical derivation of the representation. A more elegant Riemannian manifold theory argument for the representations is found in [3].