From facial recognition to selfdriving cars the applications of computer vision are vast and everexpanding.ampampnbsp Geometry plays a fundamental role in this discipline providing the necessary mathematical framework to understand the underlying principles of how we perceive and interpret visual information in the world around us. ampampnbspThis text explores the theories and computational techniques used to determine the geometric properties of solid objects through images. It covers the basic concepts and provides the necessary mathematical background for more advanced studies.ampampnbsp The book is divided into clear and concise chapters covering a wide range of topics including image formation camera models feature detection and 3D reconstruction.