SHAPE AND MOTION FROM IMAGE STREAMS UNDER ORTHOGRAPHY - A FACTORIZATION METHOD
SHAPE AND MOTION FROM IMAGE STREAMS UNDER ORTHOGRAPHY - A FACTORIZATION METHOD
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DOI：
10.1007/bf00129684
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发表时间：
1992-11-01
影响因子：
19.5
通讯作者：
KANADE, T
中科院分区：
文献类型：
--
作者：
TOMASI, C;KANADE, T
从图像流中推断场景几何形状和相机运动原则上是可能的，但是当对象相对于它们的大小是遥远的时是病态问题。我们已经开发了一种因式分解方法，可以克服这个困难，通过恢复形状和运动下的正交不计算深度作为一个intermediate step.A图像流可以表示通过F帧跟踪的P点的图像坐标的2FxP测量矩阵。在此基础上，利用奇异值分解技术将测量矩阵分解为两个分别代表物体形状和摄像机旋转的矩阵.在预处理阶段计算三个平移分量中的两个。该方法也可以处理和获得一个完整的解决方案，从部分填充的测量矩阵，可能会导致闭塞或跟踪失败。该方法给出了准确的结果，并没有引入平滑的形状或运动。我们证明了这一点，实验室和室外的图像流，有和没有遮挡的一系列实验。
Inferring scene geometry and camera motion from a stream of images is possible in principle, but is an ill-conditioned problem when the objects are distant with respect to their size. We have developed a factorization method that can overcome this difficulty by recovering shape and motion under orthography without computing depth as an intermediate step.An image stream can be represented by the 2FxP measurement matrix of the image coordinates of P points tracked through F frames. We show that under orthographic projection this matrix is of rank 3.Based on this observation, the factorization method uses the singular-value decomposition technique to factor the measurement matrix into two matrices which represent object shape and camera rotation respectively. Two of the three translation components are computed in a preprocessing stage. The method can also handle and obtain a full solution from a partially filled-in measurement matrix that may result from occlusions or tracking failures.The method gives accurate results, and does not introduce smoothing in either shape or motion. We demonstrate this with a series of experiments on laboratory and outdoor image streams, with and without occlusions.