This book introduces the geometry of 3-D vision, that is, the reconstruction of 3-D models of objects from a collection of 2-D images.
It details the classic theory of two view geometry and shows that a more proper tool for studying the geometry of multiple views is the so-called rank consideration of the multiple view matrix.
Springer-verlag New York Inc. Invitation to 3-d vision. from images to geometric models, hardback/shankar sastry
