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1999
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A Fast Algorithm for Rigid Structure from Image Sequences

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A Fast Algorithm for Rigid Structure from Image Sequences
The factorization method [1] is a feature-based approach to recover 3D rigid structure from motion. In [2], we extended their framework to recover a parametric description of the 3D shape. In [1, 2], the 3D shape and 3D motion are computed by using an SVD to approximate a matrix that is rank 3 in a noiseless situation. In this paper, we develop a new algorithm that has two relevant advantages over the algorithms of [1, 2]. First, instead of imposing a common origin for the parametric representation of the 3D surface patches, as in [2], we allow the specification of different origins for different patches. This improves the numerical stability of the image motion estimation algorithm and the accuracy of the 3D structure recovery algorithm. Second, we show how to compute the 3D shape and 3D motion by a simple factorization of a modified matrix that is rank 1 in a noiseless situation, instead of a rank 3 matrix as in [1, 2]. This allows the use of very fast algorithms even when using a l...
Pedro M. Q. Aguiar, José M. F. Moura
Added 25 Oct 2009
Updated 26 Oct 2009
Type Conference
Year 1999
Where ICIP
Authors Pedro M. Q. Aguiar, José M. F. Moura
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