Abstract
How to represent an image point algebraically? Given a Cartesian coordinate system of the retina plane, an image point can be represented by its coordinates (u,v). If the image is taken by a pinhole camera, then since a pinhole camera can be taken as a system that performs the perspective projection from three-dimensional projective space to two-dimensional one with respect to the optical center [77], it is convenient to describe a space point by its homogeneous coordinates (x,y,z, 1) and to describe an image point by its homogeneous coordinates (u,v, 1). In other words, the space of image points can be represented by the space of 3 x 1 matrices. This is the coordinate representation of image points.
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