Multilinear constraints in the infinitesimal-time case

In this paper we study the infinitesimal-time case of the so called multilinear constraints that exist for each subsequence in a sequence of images. These constraints link the infinitesimal motion of the image points with the infinitesimal viewer motion. The analysis is done both for calibrated and uncalibrated cameras. Two simplifications are also presented for the uncalibrated camera case. One simplification is made using affine reduction and kinetic depth. The second simplification is based upon a projective reduction with respect to the image of a planar patch