The Chiral Domain of a Camera Arrangement

We introduce the chiral domain of an arrangement of cameras A = A1,dots, Am which is the subset of mathbbP3 visible in A. It generalizes the classical definition of chirality to include all of mathbbP3 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 a chiral version of Triggs' joint image. We then use the chiral domain to re-derive and extend prior results on chirality due to Hartley.