Stereo Projections: Background, Mathematics, and Use

Vector, Affine, and Projective Spaces

Vector Spaces

Definition: An n-dimensional vector space consists of a set of vectors and two operations: addition and scalar multiplication. The vector space is closed under these two operations: addition of two vectors yields a vector in the vector space; multiplication of a vector by a scalar also produces a vector in the vector space. Finally, there exists a distinguished member of the set called the zero vector 0 with the properties that

a · 0 = 0 for all scalars a,
and
0 + v = v + 0 = v for all vectors v.

There are many sets that satisfy these properties. Polynomials of degree n, for example, form an n-dimensional vector space.

In these notes, we are of course only concerned with geometric objects, and it is clear that "geometric vectors" satisfy this definition. Specifically, we shall be interested in 3D vector spaces.


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