The epipolar constraint in geometric algebra and the self-calibration problem

In this paper we propose a new approach to the camera self-calibration problem, based on geometric algebra. After a brief introduction on the adopted Clifford algebra framework, we provide new insight on the epipolar constraint as defined in terms of bivectors. On the basis of that, we propose a novel solution for the simultanous determination of the focal lengths of the cameras and the rigid motion between views.