title: Multiple camera view triangulation
body: <p>Given a scene, multiple camera views of that scene and their corresponding projection matrices, we wish to triangulate 2D matching points into 3D.
  What i've been doing so far is solve the system <em>PX = alphax</em> where P is the projection matrix, X is the 3D point in camera coordinates, alpha is a scalar and x is the vector corresponding to the point in 2D. X and x are in homogeneous coords.
  See <a href="https://tspace.library.utoronto.ca/handle/1807/10437" rel="nofollow noreferrer">https://tspace.library.utoronto.ca/handle/1807/10437</a> page 102 for more detail.</p>
  
  <p>Solving this with an SVD yields proper results when the 2D points are accurately selected or when i only use two views. Introducing more views adds a lot of error.</p>
  
  <p>Any advice on what techniques are best to improve/refine this solution and make it support more views?</p>