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274 6 Feature-based alignment

(a) (b)

x 1 x 0

x 2

(c) (d)

Figure 6.1 Geometric alignment and calibration: (a) geometric alignment of 2D images for stitching (Szeliski
and Shum 1997) c 1997 ACM; (b) a two-dimensional calibration target (Zhang 2000) c 2000 IEEE; (c) cal-
ibration from vanishing points; (d) scene with easy-to-find lines and vanishing directions (Criminisi, Reid, and
Zisserman 2000) c 2000 Springer.