Acknowledgements

Rog Palmer of AirPhoto Services, Cambridge was of vital help in testing and making many suggestions for improvements to the user interface.

Adrien Bartoli of LASMEA (Laboratoire des Sciences et Materiaux pour l'Electronique et l'Automatique) at the University of Clermont-Ferrand advised on the mathematics for the methods used and offered many bibliographic references.

Peter Kovesi of the University of Western Australia, Perth supplied Matlab code to the Oxford web site and corrected a number of bugs at the author's request.

Andrew Zisserman of the University of Oxford posted Matlab code on the Computer Vision group's web site at my request to illustrate many of the methods described in his book written with Richard Hartley of Australian National University, Canberra, Multiple View Geometry in computer vision, Cambridge University Press 2003, Second Edition, ISBN 0521 54051 8 .