The Chiral Domain of a Camera Arrangement

We introduce the chiral domain of an arrangement of cameras A = {A_1, ..., A_m) which is the subset of P^3 visible in A. It generalizes the classical definition of chirality to include all of P^3 and offers a unifying framework for studying multiview chirality. We give an algebraic description of the chiral domain which allows us to define and describe the chiral version of Triggs’ joint image. We then use the chiral domain to re-derive and extend prior results on chirality due to Hartley.