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A Fast Algorithm for Rigid Structure from Image Sequences Pedro M. Q. Aguiar
 

Summary: A Fast Algorithm for Rigid Structure from Image Sequences
Pedro M. Q. Aguiar
Jos´e M. F. Moura
Department of Electrical and Computer Engineering
Carnegie Mellon University, Pittsburgh PA, USA
{aguiar,moura}@ece.cmu.edu
Abstract
The factorization method [1] is a feature-based ap-
proach to recover 3D rigid structure from motion.
In [2], we extended their framework to recover a para-
metric 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 noise-
less situation. In this paper, we develop a new algo-
rithm that has two relevant advantages over the algo-
rithms of [1, 2]. First, instead of imposing a common
origin for the parametric representation of the 3D sur-
face patches, as in [2], we allow the specification of
different origins for different patches. This improves
the numerical stability of the image motion estimation

  

Source: Aguiar, Pedro M. Q. - Institute for Systems and Robotics (Lisbon)

 

Collections: Engineering