To enhance the readability the notations used throughout the text are summarized here.

For matrices bold face fonts are used (i.e. ). 4-vectors are represented by and 3-vectors by . Scalar values will be represented as .

Unless stated differently the indices , and are used for views, while and are used for indexing points, lines or planes. The notation indicates the entity which relates view to view (or going from view to view ). The indices , and will also be used to indicate the entries of vectors, matrices and tensors. The subscripts , , and will refer to projective, affine, metric and Euclidean entities respectively

camera projection matrix ( matrix) | |

world point (4-vector) | |

world plane (4-vector) | |

image point (3-vector) | |

image line (3-vector) | |

homography for plane from view to view ( matrix) | |

homography from plane to image ( matrix) | |

fundamental matrix ( rank 2 matrix) | |

epipole (projection of projection center of viewpoint into image ) | |

trifocal tensor ( tensor) | |

calibration matrix ( upper triangular matrix) | |

rotation matrix | |

plane at infinity (canonical representation: ) | |

absolute conic | |

(canonical representation: and ) | |

absolute dual quadric ( rank 3 matrix) | |

absolute conic embedded in the plane at infinity ( matrix) | |

dual absolute conic embedded in the plane at infinity ( matrix) | |

image of the absolute conic ( matrices) | |

dual image of the absolute conic ( matrices) | |

equivalence up to scale ( ) | |

indicates the Frobenius norm of (i.e. ) | |

indicates the matrix scaled to have unit Frobenius norm | |

(i.e. ) | |

is the transpose of | |

is the inverse of (i.e. ) | |

is the Moore-Penrose pseudo inverse of |