Newer version of this, visit robotacademy.net.au

In this lecture we discuss in more detail the equation of image formation, particularly their expression in matrix form using homogeneous coordinates. We then introduce the planar homography, a mapping from points in a world plane to the image plane, and show some examples of how this can be used for real problems.

Note there is an error at 25:55, I should use the inverse tomography H^-1. A much better discussion of homography can be found at Robot Academy.