Appendix 164 3. A 3. A. 1 Approximate Estimation of Fundamental Matrix from General Matrix 164 3. A. 2 Estimation of Affine Transformation 165 4 RECOVERY OF EPIPOLAR GEOMETRY FROM LINE SEGMENTS OR LINES 167 Line Segments or Straight Lines 168 4. 1 4. 2 Solving Motion Using Line Segments Between Two Views 173 4. 2. 1 Overlap of Two Corresponding Line Segments 173 Estimating Motion by Maximizing Overlap 175 4. 2. 2 Implementation Details 4. 2. 3 176 Reconstructing 3D Line Segments 4. 2. 4 179 4. 2. 5 Experimental Results 180 4. 2. 6 Discussions 192 4. 3 Determining Epipolar Geometry of Three Views 194 4. 3. 1 Trifocal Constraints for Point Matches 194 4. 3. 2 Trifocal Constraints for Line Correspondences 199 4. 3. 3 Linear Estimation of K, L, and M Using Points and Lines 200 4. 3. 4 Determining Camera Projection Matrices 201 4. 3. 5 Image Transfer 203 4. 4 Summary 204 5 REDEFINING STEREO, MOTION AND OBJECT RECOGNITION VIA EPIPOLAR GEOMETRY 205 5. 1 Conventional Approaches to Stereo, Motion and Object Recognition 205 5. 1. 1 Stereo 205 5. 1. 2 Motion 206 5. 1. 3 Object Recognition 207 5. 2 Correspondence in Stereo, Motion and Object Recognition as 1D Search 209 5. 2. 1 Stereo Matching 209 xi Contents 5. 2. 2 Motion Correspondence and Segmentation 209 5. 2. 3 3D Object Recognition and Localization 210 Disparity and Spatial Disparity Space 210 5.

This book is intended as a historical and critical study on the origin of the equations of motion as established in Newton's Principia. The central question that it aims to answer is whether it is indeed correct to ascribe to Galileo the inertia principle and the law of falling bodies. In order to accomplish this task, the study begins by considering theories on the motion of bodies from classical antiquity, and especially those of Aristotle. The theories developed during the Middle Ages and the Renaissance are then reviewed, with careful analysis of the contributions of, for example, the Merton and Parisian Schools and Galileo’s immediate predecessors, Tartaglia and Benedetti. Finally, Galileo’s work is examined in detail, starting from the early writings. Excerpts from individual works are presented, to allow the texts to speak for themselves, and then commented upon. The book provides historical evidence both for Galileo's dependence on his forerunners and for the major breakthroughs that he achieved. It will satisfy the curiosity of all who wish to know when and why certain laws have been credited to Galileo.