Synopsis:

Chapter 1 provides initial motivation and discusses the perspective model of image projection. Chapter 2 formally describes the basic properties of projective space. Chapter 3 considers projective invariants and the cross ratio. Chapter 4 compares the basic structures of projective, affine and Euclidean geometries and shows how to specialize from one to the other. Finally, chapter 5 considers the problems of 3D reconstruction using uncalibrated cameras and camera auto-calibration under various prior hypotheses.