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Amnon Shashua, Nassir Navab, "Relative Affine Structure: Canonical Model for 3D From 2D Geometry and Applications," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 18, no. 9, pp. 873883, September, 1996.  
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@article{ 10.1109/34.537342, author = {Amnon Shashua and Nassir Navab}, title = {Relative Affine Structure: Canonical Model for 3D From 2D Geometry and Applications}, journal ={IEEE Transactions on Pattern Analysis and Machine Intelligence}, volume = {18}, number = {9}, issn = {01628828}, year = {1996}, pages = {873883}, doi = {http://doi.ieeecomputersociety.org/10.1109/34.537342}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  JOUR JO  IEEE Transactions on Pattern Analysis and Machine Intelligence TI  Relative Affine Structure: Canonical Model for 3D From 2D Geometry and Applications IS  9 SN  01628828 SP873 EP883 EPD  873883 A1  Amnon Shashua, A1  Nassir Navab, PY  1996 KW  Structure from motion KW  visual recognition KW  alignment KW  reprojection KW  projective reometry KW  algebraic and geometric invariants. VL  18 JA  IEEE Transactions on Pattern Analysis and Machine Intelligence ER   
Abstract—We propose an affine framework for perspective views, captured by a single extremely simple equation based on a viewercentered invariant we call
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