This chapter describes the theoretical background of this thesis. It starts with defining the Legendre-Fenchel transformation that is a prerequisite for the dense reconstruction. Then the possibility to be invariant to illumination change by using photometric invariants is introduced. After these prerequisites, the sparse reconstruction will be defined as its results are needed by the dense reconstruction. In the end, the theory of the dense reconstruction is shown.
KeywordsScale Invariant Feature Transform Bundle Adjustment Epipolar Line Sparse Reconstruction Epipolar Constraint
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