Furthermore, the new constraints decrease the ambiguities in solving the absolute quadric, which improves the robustness of the previous algorithms to camera critical motions.

• 也使使所重建的三维景物的正交性得到保证。并且，新约束条件的应用减少了求解绝对二次曲面的模糊性，从而提高了对于相机关键性运动的鲁棒性。