@InProceedings{Werner-cvpr03,
  IS = { zkontrolovano 07 Dec 2003 },
  UPDATE  = { 2003-09-11 },
  author =       { Werner, Tom{\' a}{\v s} },
  title =        { Constraint on Five Points in Two Images },
  booktitle =   { CVPR 2003: Proceedings of the 2003 {IEEE} Computer
                  Society Conference on Computer Vision and Pattern
                  Recognition },
  volume =       { II },
  editor =       { Martin, Danielle },
  isbn =         { 0-7695-1900-8 },
  book_pages  =  { 865 },
  publisher =    { IEEE Computer Society },
  address =      { Los Alamitos, USA },
  year =         { 2003 },
  month =        { June },
  day =          { 16-22 },
  venue =        { Madison, USA },
  psurl = {[werner-cvpr03.pdf]},
  prestige =     { important },
  pages =        { 203--208 },
  annote = { It is well-known that epipolar geometry relating two
    uncalibrated images is determined by at least seven
    correspondences. If there are more than seven of them, their
    positions cannot be arbitrary if they are to be projections of any
    world points by any two cameras.  Less than seven matches have
    been thought not to be constrained in any way. We show that there
    is a constraint even on five matches, i.e., that there exist
    forbidden configurations of five points in two images. The
    constraint is obtained by requiring orientation
    consistence---points on the wrong side of rays are not
    allowed. For allowed configurations, we show that epipoles must
    lie in domains with piecewise-conic boundaries, and how to
    computery them.  We present a concise algorithm deciding whether a
    configuration is allowed or forbidden. },
  keywords = { 3{D} computer vision, multiview geometry, epipolar
    geometry, fundamental matrix, cheirality, chirality, oriented
    projective geometry },
  project = {  IST-2001-32184, GACR 102/01/0971, MSM 212300013 },
}