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: <math> \mathbf{x}_{k} \sim \mathbf{A} \, \mathbf{y}_{k} </math> for <math> \, k = 1, \ldots, N </math>
where <math> \mathbf{x}_{k} </math> and <math> \mathbf{y}_{k} </math> are known vectors, <math> \, \sim </math> denotes equality up to an
This type of relation appears frequently in [[projective geometry]]. Practical examples are the relation between 3D points in a scene and their projection onto the image plane of a [[Pinhole camera model|pinhole camera]] and [[Homography|homographies]].
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