This paper introduces an affine invariant of trapezia, and the explicit constraint equation between the intrinsic matrix of a camera and the similarity invariants of a trapezium are established using the affine invariant. By this constraint, the inner parameters, motion parameters of the cameras and ...
The equation is written as a system of two first order ODEs. These are evaluated for different values of the parameter Mu. For faster integration, we choose an appropriate solver based on the value of the parameter Mu.
