The Chiral Domain of a Camera Arrangement

We introduce the chiral domain of an arrangement of projective 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 $\mathbb{P}^3$. We give an algebraic description of the chiral domain which allows us to define and describe a chiral version of Triggs' joint image. The chiral domain also leads to a polyhedral derivation of Hartley's chiral inequalities for deciding when a projective reconstruction can be made chiral.