In the simplest case where the projection center is placed at the origin of the world frame and the image plane is the plane , the projection process can be modeled as follows:

(C1) |

This projection is illustrated in Figure 3.2. The optical axis passes through the center of projection and is orthogonal to the retinal plane . It's intersection with the retinal plane is defined as the principal point .

Marc Pollefeys 2002-11-22