How does motion tracking work?

I decided to right a paper on mocha and how math applies to how it works. If anyone could give a link to a website that explains mocha or any other tracking software in-depth that would be very appreciated. I don’t expect anyone to explain how it works in this thread so a link is all I need.
Thanks

thanks for the advice. I’ll definetly read up on those three topics. Maybe instead of how mocha works I should focus on how motion tracking works in just after effects. It seems to be simpler in after effects than in mocha and I don’t believe theres a trade secret for the motion tracking in after effects.

There’s nothing on the web that describes precisely how mocha works - it’s a trade secret.

The key topics I would suggest reading about are projective geometry, correlation and bundle adjustment.

J-P