2 Estimation of Affine Transformation 165 4 RECOVERY OF EPIPOLAR GEOMETRY FROM LINE SEGMENTS OR LINES 167 Line Segments or Straight Lines 168 4. 2 Solving Motion Using Line Segments Between Two Views 173 4. 4 Determining Camera Projection Matrices 201 4. 4 Summary 204 5 REDEFINING STEREO, MOTION AND OBJECT RECOGNITION VIA EPIPOLAR GEOMETRY 205 5.