Recovering motion and structure from a set of planar patches in an uncalibrated image sequence

Addresses the well-known problem of estimating the motion and structure of a plane, but in the case where the visual system is not calibrated and in an unbounded monocular image sequence. The authors first define plane collineations and analyse some of their properties when utilized to analyse the retinal motion in an uncalibrated image sequence. The authors show how to relate them to the Euclidian parameters of the scene. In particular, the authors discuss how to detect and estimate the collineation of the plane at infinity and use this quantity for auto-calibration