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Finding the Collineation Between two Projective Reconstructions
Gabriella Csurka, Radu Horaud
To cite this version:
Gabriella Csurka, Radu Horaud. Finding the Collineation Between two Projective Reconstructions.
RR-3468, INRIA. 1998. �inria-00073222�
a p p o r t
d e r e c h e r c h e
INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE
Finding the Collineation Between two Projective Reconstructions
Gabriella Csurka and Radu Horaud
No 3468
Aoˆut 1998
TH ` EME 3
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Unit´e de recherche INRIA Lorraine, Technop ˆole de Nancy-Brabois, Campus scientifique, 615 rue du Jardin Botanique, BP 101, 54600 VILLERS L ` ES NANCY
Unit´e de recherche INRIA Rennes, Irisa, Campus universitaire de Beaulieu, 35042 RENNES Cedex Unit´e de recherche INRIA Rh ˆone-Alpes, 655, avenue de l’Europe, 38330 MONTBONNOT ST MARTIN Unit´e de recherche INRIA Rocquencourt, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY Cedex
Unit´e de recherche INRIA Sophia-Antipolis, 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex
Editeur ´
INRIA, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY Cedex (France)