Similarity measures for intersection of camera view frustums

For a moving camera recognizing that it has seen a place before now, is one the most important issues in the 3D reconstruction problems. In these problems, the main goal is to create a three-dimensional model from a sequence of 2D captured images during different times. That part of the scene which is rendered by a camera is often modeled by a frustum. Calculating the amount of intersection of two camera view frustums at different times can help to solve this problem. However, there are two major difficulties. First, calculating the intersection of two frustums, in general, is so complicated. And second, there are some uncertainties in the moving camera parameters over time. In this paper, we addressed these issues by estimating a camera view frustum with its circumscribed sphere and introducing some similarity measures based on this estimation.