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We show that the three-dimensional (3-D) motion parameters of a rigid planar patch can be determined by computing the singular value decomposition (SVD) of a 3 × 3 matrix containing the eight so called "pure parameters." Furthermore, aside from a scale factor for the translation parameters, the number of solutions is either one or two, depending on the multiplicity of the singular values of the matrix.
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Tsai et al. (1982) studied this question.
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