Affine reconstruction from perspective image pairs with a relative object-camera translation in between

A method is described to recover the three-dimensional affine structure of a scene consisting of at least five points identified in two perspective views with a relative object-camera translation in between. When compared to the results for arbitrary stereo views, a more detailed reconstruction is possible using less information. The method presented only assumes that the two images are obtained by identical cameras, but no knowledge about the intrinsic parameters of the camera(s) or about the performed translation is assumed. By the same method, affine 3D reconstruction from a single view can be achieved for parallel structures. In that case, four points suffice for affine reconstruction