During my master thesis I read parts of this book. One thing I can say about it, is that if you don't know projective geometry when beginning to read this book, you will not learn it from here. Yes, Faugeras probably has a very intuitive feel for this field of science but he does not explain his ideas in a pedagogical manner. My advise is, read the book and get the idea, then read some other book to do it. Faugeras will not tell you how.I got this confirmed from two other sources as well, after discovering it myself.