This book takes a theoretical perspective on the study of school algebra, in which both semiotics and history occur. The Methodological design allows for the interpretation of specific phenomena and the inclusion of evidence not addressed in more general treatments. The book gives priority to "meaning in use" over "formal meaning." These approaches and others of similar nature lead to a focus on competence rather than a user 's activity with mathematical language.

This work focuses on central catadioptric systems, from the early step of calibration to high-level tasks such as 3D information retrieval. The book opens with a thorough introduction to the sphere camera model, along with an analysis of the relation between this model and actual central catadioptric systems. Then, a new approach to calibrate any single-viewpoint catadioptric camera is described. This is followed by an analysis of existing methods for calibrating central omnivision systems, and a detailed examination of hybrid two-view relations that combine images acquired with uncalibrated central catadioptric systems and conventional cameras. In the remaining chapters, the book discusses a new method to compute the scale space of any omnidirectional image acquired with a central catadioptric system, and a technique for computing the orientation of a hand-held omnidirectional catadioptric camera.

This book takes a theoretical perspective on the study of school algebra, in which both semiotics and history occur. The Methodological design allows for the interpretation of specific phenomena and the inclusion of evidence not addressed in more general treatments. The book gives priority to "meaning in use" over "formal meaning." These approaches and others of similar nature lead to a focus on competence rather than a user 's activity with mathematical language.