Thereinto, the problem of matching feature points and feature lines introduce the trifocal tensor as the constraint condition.

其中,特、的匹配问题引入了视张量约束条件。

The trifocal tensor is the mathematical expression of trifocal geometry, it has strict constraints to correspondence points and lines in three images.

视张量是视几何的数学表达,它对上的同名、同名都存在严格的约束关系。