Three-view camera calibration using geometric algebra

In a former work of ours C. Defferara et al. (2002), we proposed a new way to express and interpret the epipolar constraint using Geometric Algebra, and we derived from it a novel and efficient 2-view camera calibration technique. In this paper we extend this GA approach to the 3-view case. After expressing the trifocal constraint in terms of bivectors and trivectors, we provide an alternative geometric interpretation of the coefficients of the trifocal tensor. On the basis of that, we propose a novel solution for the simultaneous determination of the focal lengths of the cameras and the rigid motion between three views.