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In this paper, we analyze the multiple view geometry for a camera and mirrors, and propose a method for computing the geometry of the camera and mirrors accurately from fewer corresponding points than the existing methods. The geometry between a camera and mirrors can be described as the multiple view geometry for a real camera and virtual cameras. We show that very strong constraints on geometries can be obtained in addition to the ordinary multilinear constraints. By using these constraints, we can estimate multiple view geometry more accurately from fewer corresponding points than usual. The experimental results show the efficiency of the proposed method.