Factorization Methods for Motion and Shape Recovery

Toshio Ueshiba
Electrotechnical Laboratory
1--1--4 Umezono, Tsukuba-shi, Ibaraki, 305--8568 Japan
E-mail: ueshiba@etl.go.jp

• Introduction
  • Notation
• Camera models
  • Perspective cameras
  • Affine cameras
• Affine/Projective reconstruction through factorization of the measurement matrices
  • Factorization under affine projections
  • Factorization under perspective projections
    • Projective reconstruction and depth ambiguity
    • Depth estimation using fundamental matrices and epipoles
    • Depth estimation via non-linear minimization
• Metric constraints and Euclidean reconstruction
  • Metric constraints under affine projections
  • Metric constraints for perspective cameras
• Relevance to self-calibration
• Affine equivalence of factorization
• References
• About this document ...