TextBook

• Forsyth. (2011). Computer Vision a Modern Approach (2nd Edition). Prentice Hall. New Jersey. ISBN-10: 013608592X. ISBN-13: 978-0136085928.
  

• Szeliski. (2010). Computer Vision: Algorithms and Applications. Springer. London. ISBN-13: 978-1848829343. ISBN-10: 1848829345

Chapter 2