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Collinearity equation information


Light beams passing through the pinhole of a pinhole camera

The collinearity equations are a set of two equations, used in photogrammetry and computer stereo vision, to relate coordinates in a sensor plane (in two dimensions) to object coordinates (in three dimensions). The equations originate from the central projection of a point of the object through the optical centre of the camera to the image on the sensor plane.[1]

The three points P, Q and R are projected on the plane S through the projection centre C
x- and z-axis of the projection of P through the projection centre C
  1. ^ T. Schenk, Introduction to Photogrammetry

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