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3D Rigid Structure from Video: What Are "Easy" Shapes and "Good" Motions ? Pedro M. Q. Aguiar
 

Summary: 3D Rigid Structure from Video: What Are "Easy" Shapes and "Good" Motions ?
Pedro M. Q. Aguiar
Institute for Systems and Robotics / IST, Lisboa, Portugal
E-mail: aguiar@isr.ist.utl.pt
Jos´e M. F. Moura
Carnegie Mellon University, ECE Dep., Pittsburgh PA, USA
E-mail: moura@ece.cmu.edu
Abstract--Factorization algorithms are increasingly popular to
recover 3D rigid structure from video. In this paper, we analyze
the rank 1 factorization algorithm to determine what are the most
suitable 3D shapes or the best 3D motions to recover the 3D struc-
ture from the 2D trajectories of the features. We show that the
shape is best retrieved from orthogonal views aligned with the
longest and smallest axes of inertia of the object.
I. INTRODUCTION
Virtual reality systems demand efficient and cheap ways to
obtain 3D models of real world objects. Human operators can
build 3D models of artificial objects in a manual way but this
isn't practical for applications requiring 3D photographies of
real objects. Active sensing systems such as the laser range

  

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

 

Collections: Engineering