This document discusses structure from motion using multiple cameras. It begins by describing the goals of structure from motion as finding the intrinsic matrix, extrinsic matrix, and 3D points given projections into multiple images. It then focuses on the simpler case of two images with a known intrinsic matrix. Key topics covered include the essential and fundamental matrices, epipolar geometry, rectification, and dense reconstruction. The goal of rectification is to warp the images so that corresponding points between images lie on the same horizontal scanline, enabling dense depth map estimation.