Discrete and differential two-view constraints for general imaging systems

The recent popularity of catadioptic and multi-camera imaging systems indicates a need to create formal models for general, non-perspective camera geometries. Development of algorithmic tools for interpreting images from a generalized camera model will lead to a better understanding of how to design camera systems for particular tasks. Here we define the corollary to epi-polar constraints for standard cameras-the relationship between two images of a scene taken by generalized cameras from viewpoints related by discrete or differential motions.