| 2. | Based on projective geometry , the research works about 3d invariance ' s extraction and application have been done in this thesis as following : ( 1 ) the basic theories and concepts in projective geometry are systematically summarized . it includes : the camera models of perspective imaging , projective collineation , cross ratio , a simple compare about invariance ( invariant ) among some geometry transformations , fundamental matrix , epipolar and epipolar line in epipolar geometry , and so on . ( 2 ) the calculation methods for 2d projective transformation are extended from points to multi - element , which includes points , lines , points lines and so on , to get the relationship between two projective planes
基于射影几何理论，论文围绕3d不变特征的提取和应用进行了如下的研究工作： ( 1 )系统总结了射影几何中的若干基础概念，包括：透视成像的相机模型、射影对应、交比不变量、基于不同几何变换下的不变量的简单对比、对极几何中的基础矩阵、对极点、对极线等。 |
