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: <math> \mathbf{b}_{k} = \begin{pmatrix} x_{2k} \, y_{1k} \\ -x_{1k} \, y_{1k} \\ x_{2k} \, y_{2k} \\ -x_{1k} \, y_{2k} \\ x_{2k} \, y_{3k} \\ -x_{1k} \, y_{3k} \end{pmatrix} </math> and <math> \mathbf{a} = \begin{pmatrix} a_{11} \\ a_{21} \\ a_{12} \\ a_{22} \\ a_{13} \\ a_{23} \end{pmatrix}. </math>
:<math> \mathbf{0} = \mathbf{B} \, \mathbf{a} </math>
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