The Chiral Domain of a Camera Arrangement

We introduce the chiral domain of an arrangement of cameras $\mathcal{A} = \{A_1,\dots, A_m\}$ which is the subset of $\mathbb{P}^3$ visible in $\mathcal{A}$. It generalizes the classical definition of chirality to include all of $\mathbb{P}^3$ and offers a unifying framework for studying multiview chirality. We give an algebraic description of the chiral domain which allows us to define and describe a chiral version of Triggs' joint image. We then use the chiral domain to re-derive and extend prior results on chirality due to Hartley.