The Chern-Mather class of the multiview variety

The multiview varietyassociated to a collection of N cameras records which sequences of image points in ?^2N can be obtained by taking pictures of a given world point x∈?³ with the cameras. In order to reconstruct a scene from its picture under the different cameras, it is important to be able to find the critical points of the function which measures the distance between a general point u∈?^2N and the multiview variety. In this paper we calculate a specific degree 3 polynomial that computes the number of critical points as a function of N. In order to do this, we construct a resolution of the multiview variety and use it to compute its Chern-Mather class.