Figure 3.

Adapted stereo schematics for 3D motion. (a) The projection of a point $P_W$ in two consecutive images after a camera motion represented by $\overrightarrow{t}$. For viewing purposes we aligned both camera frames and displaced the point $P_W$ by $-\overrightarrow{t}$, represented in the camera coordinate system as points $P_{C1}$ and $P_{C2}$ for the first and second frame, respectively; these points are then projected onto the image plane as points $P_{I1}$ and $P_{I2}$; (b) the image plane. (a) Projection schematic; (b) image plane.