Question: Point Triangulation is the process of determining a point in 3D space given its projections onto two, or more, images. Let Pi R34 be the

Point Triangulation is the process of determining a point in 3D space given its projections onto two, or more, images. Let Pi R34 be the 3D pose of camera i {1, 2, ..., N } (rotation and translation), X = [x, y, z]T R3 a 3D point and xi = [ui, vi] Z2 the respective pixels of 2D projection of the

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