Monocular vision using inverse perspective projection geometry: analytic relations

The author derives a variety of relationships, all in the reference frame of the camera, between 3-D points; 3-D lines; collections of 3-D lines; the angles between lines lying in common planes; the planes in which lines may lie; and the corresponding perspective projection of the 3-D points, lines and angles. These relationships are useful in many aspects of model-based vision and can serve as the geometric basis of a perspective-projection expert system. The derivations are outlined, and practical implications are briefly indicated