Nomenclature

In this section nomenclature commonly used in artificial vision are reported.

$\mathbf{K}$

Matrix of Intrinsic Parameters (see eq. (9.8)), and sometimes it is referred as $\mathbf{A}$;

$\mathbf{R}$

Rotation Matrix (see eq. (9.22));

$\mathbf{E}$

Essential Matrix (see eq. (10.43));

$\mathbf{F}$

Fundamental Matrix (see eq. (10.47));

$\mathbf{P}$

Camera Matrix (see eq. (9.25));

$\boldsymbol\Pi$

Permutation Matrix (see eq. (A.3));

$k_{u},k_{v}$

Horizontal and Vertical focal lenghts in pixel dimension (see eq. (9.5));

$k_{\gamma}$

Skew Factor, rarely used;

$W,H$

Image size in pixel unit;

$u_{0}, v_{0}$

Principal Point (the orthogonal projection of the optical center onto the image plane) coordinates in pixel unit;

$\vartheta$

Pitch angle;

$\gamma$

Yaw angle;

$\rho$

Roll angle.