Critical configurations for two projective views, a new approach

This article develops new techniques to classify critical configura-tions for 3D scene reconstruction from images taken by unknown cameras. Generally, all information can be uniquely recovered if enough images and image points are provided, but there are cer-tain cases where unique recovery is impossible; these are called critical configurations. In this paper, we use an algebraic approach to study the critical configurations for two projective cameras. We show that all critical configurations lie on quadric surfaces, and classify exactly which quadrics constitute a critical configuration. The paper also describes the relation between the different recon-structions when unique reconstruction is impossible.(c) 2023 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http:// creativecommons .org /licenses /by /4 .0/).