Image rectication from coplanar congruent objects

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    M= det (D) trace (D)2

    = 12 (1 + 2)2

    D

    M

    2R + 1 2R + 1 R

    C

    = IJT + JIT

    v

    K

    C

    = KKT KKTvvTKKT vTKKTv

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    Hs

    Hs

    Hp

    I

    I J

    J

    I=

    1 i 0T

    J =

    1 i 0T

    R1 R2P1 P2

    Xs = HpX

    R2 P2Hp

    Hp

    x = Hpx

    A1

    A1 A2

    A1 A2

    A1

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    A8 B8 A6 B6 A3 B3 A10 B10

    341.5 1 1

    T512 683 1

    T 512 683 1

    T

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    I= 8.1665 10

    1 2.2135 101i

    2.2135 101 + 8.1665 101i1.1779 1020 5.7386 1020i

    1i

    0

    J =

    8.1665 10

    1 2.2135 101i

    2.2135 101 8.1665 101i1.1779 1020 5.7386 1020i

    1i

    0

    l =

    0 + 6.1668 10

    21i

    0 9.8944 1021i0 1.4318i

    00

    1

    A1(A1, A2) A1 A2

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    (A1 . . . An)A1

    Q

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    lC

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    1020

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