Multiple view geometry for mixed dimensional cameras

In this paper, we analyze the multiple view geometry under the case where various dimensional imaging sensors are used together. Although the multiple view geometry has been studied extensively and extended for more general situations, all the existing multiple view geometries assume that the scene is observed by the same dimensional imaging sensors, such as 2D cameras. In this paper, we show that there exist multilinear constraints on image coordinates, even if the dimensions of camera images are different each other. The new multilinear constraints can be used for describing the geometric relationships between ID line sensors, 21) cameras, 31) range sensors etc., and for calibrating mixed sensor systems.