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where <math> \mathbf{x}_{k} </math> and <math> \mathbf{y}_{k} </math> are known vectors, <math> \, \propto </math> denotes equality up to an unknown scalar multiplication, and <math> \mathbf{A} </math> is a matrix (or linear transformation) which contains the unknowns to be solved.
This type of relation appears frequently in [[projective geometry]]. Practical examples include the relation between 3D points in a scene and their projection onto the image plane of a [[Pinhole camera model|pinhole camera]], and [[Homography (computer vision)|homographies]].
== Introduction ==
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