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This section is based on an unpublished paper written by Richard
Hartley in 1995. It derives the Kruppa equations which allow a
camera's internal parameters to be derived from matches between
several views taken with the same camera at different positions and
orientations. From there, Euclidean reconstruction of the scene up to
an overall scale factor is possible without further prior information.
First, we present the geometric link between the absolute conic and
camera's interior calibration. Then, we motivate and derive the
Kruppa equations which provide two constraints on the calibration for
each pair of views observed by the camera from different locations.