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T. Pajdla:
"Geometry of Perspective Camera An Algebraic Approach";
Czech Technical University in Prague Faculty of Electrical Engineering, 2017.

1 Introduction
This work presents the theory for understanding the geometr
y of perspective cameras
within the scope of computer vision and robotics. It provide
s a complete and self-
contained material updating and refining some of the most fun
damental elements
from the excellent previous expositions of the topic [1, 2, 3
] as well as providing new
results and insights.
We cover the geometry of single perspective camera and relat
ionships between
two perspective images of a general as well as a planer scene,
including the re-
construction of 3D scenes from two images. We mostly concent
rate on situations
when cameras are internally calibrated [2], which proved to
be particularly useful in
practical applications [4].

http://publik.tuwien.ac.at/files/publik_265286.pdf