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].

- Internal Geometry and Projection Model
- 3D Structure Model
- 3D Motion Model - Translation
- 3D Motion Model - Rotation
- The Issue of Scale