# A Unified Formula for Affine Transformations between Calibrated Cameras

arXiv: https://arxiv.org/abs/2602.06805 · HTML: https://mlsanity.com/paper/2602.06805/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 1 of its 5 references that are in the map.
- First posted on arXiv 6 Feb 2026.

## Builds on (most cited first, 1 of 1)

- [Robust and Real-time Surface Normal Estimation from Stereo Disparities using Affine Transformations](https://mlsanity.com/paper/2504.15121/) (2025)

## Abstract (arXiv)

In this technical note, we derive a closed-form expression for the affine transformation mapping local image patches between two calibrated views. We show that the transformation is a function of the relative camera pose, the image coordinates, and the local surface normal.