Shape and Motion without Depth - Robotics Institute Carnegie Mellon University

Shape and Motion without Depth

C. Tomasi and Takeo Kanade
Conference Paper, Proceedings of (ICCV) International Conference on Computer Vision, pp. 91 - 95, December, 1990

Abstract

Inferring the depth and shape of remote objects and the camera motion from a sequence of images is possible in principle, but is an ill-conditioned problem when the objects are distant with respect to their size. This problem is overcome by inferring shape and motion without computing depth as an intermediate step. On a single epipolar plane, an image sequence can be represented by the F*P matrix of the image coordinates of P points tracked through F frames. It is shown that under orthographic projection this matrix is of rank three. Using this result, the authors develop a shape-and-motion algorithm based on singular value decomposition. The algorithm gives accurate results, without relying on any smoothness assumption for either shape or motion.

BibTeX

@conference{Tomasi-1990-13178,
author = {C. Tomasi and Takeo Kanade},
title = {Shape and Motion without Depth},
booktitle = {Proceedings of (ICCV) International Conference on Computer Vision},
year = {1990},
month = {December},
pages = {91 - 95},
}