A new linear method for Euclidean motion/structure from three calibrated affine views

We introduce a unified framework for developing matching constraints of multiple affine views and rederive 2-view (affine epipolar geometry) and 3-view (affine image transfer) constraints within this framework. We then describe a new linear method for Euclidean motion and structure from 3 calibrated affine images, based on insight into the particular structure of these multiple-view constraints. Compared with the existing linear method of Huang and Lee (1989), the new method uses different and more appropriate constraints. It has no failure mode of the Euclidean factorisation method of Tomasi and Kanade (1992). We demonstrate the method on real image sequences