This article presents the first results for the estimation of the trifocal tensor which defines the relations of correspondence between the points pertaining to three image planes. This estimation is achieved for a trinocular sensor based on imperceptible structured light. From the trifocal tensor, projective matrices can be estimated enabling the projective reconstruction of the scene. Moreover, the transfer relations permit easy solution of the correspondence problem. In addition, it is shown that the tensor provides geometrical tools for self-calibration of the sensor.

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