caa a22 4500 46791494X CHVBK 20180406152859.0 cr unu---uuuuu 170328e20060601xx s 000 0 eng 10.1007/s11263-005-4839-7 doi (NATIONALLICENCE)springer-10.1007/s11263-005-4839-7 Two-View Multibody Structure from Motion [Elektronische Daten] [René Vidal, Yi Ma, Stefano Soatto, Shankar Sastry] We present an algebraic geometric approach to 3-D motion estimation and segmentation of multiple rigid-body motions from noise-free point correspondences in two perspective views. Our approach exploits the algebraic and geometric properties of the so-called multibody epipolar constraint and its associated multibody fundamental matrix, which are natural generalizations of the epipolar constraint and of the fundamental matrix to multiple motions. We derive a rank constraint on a polynomial embedding of the correspondences, from which one can estimate the number of independent motions as well as linearly solve for the multibody fundamental matrix. We then show how to compute the epipolar lines from the first-order derivatives of the multibody epipolar constraint and the epipoles by solving a plane clustering problem using Generalized PCA (GPCA). Given the epipoles and epipolar lines, the estimation of individual fundamental matrices becomes a linear problem. The clustering of the feature points is then automatically obtained from either the epipoles and epipolar lines or from the individual fundamental matrices. Although our approach is mostly designed for noise-free correspondences, we also test its performance on synthetic and real data with moderate levels of noise. Springer Science + Business Media, LLC., 2006 multibody structure from motion nationallicence 3-D motion segmentation nationallicence multibody epipolar constraint nationallicence multibody fundamental matrix nationallicence Generalized PCA (GPCA) nationallicence Vidal René Center for Imaging Science, Department of Biomedical Engineering, Johns Hopkins University, 308B Clark Hall, 3400 N. Charles St., 21218, Baltimore, MD aut Ma Yi Department of ECE, University of Illinois at Urbana-Champaign, 1406 West Green Street, 61801, Urbana, IL aut Soatto Stefano Computer Science Department, University of California at Los Angeles, 3531 Boelter Hall, 90095, Los Angeles, CA aut Sastry Shankar Department of EECS, University of California at Berkeley, 237 Cory Hall, 94720, Berkeley, CA aut International Journal of Computer Vision Kluwer Academic Publishers 68/1(2006-06-01), 7-25 0920-5691 68:1<7 2006 68 11263 https://doi.org/10.1007/s11263-005-4839-7 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11263-005-4839-7 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Vidal René Center for Imaging Science, Department of Biomedical Engineering, Johns Hopkins University, 308B Clark Hall, 3400 N. Charles St., 21218, Baltimore, MD aut NATIONALLICENCE 700 1- Ma Yi Department of ECE, University of Illinois at Urbana-Champaign, 1406 West Green Street, 61801, Urbana, IL aut NATIONALLICENCE 700 1- Soatto Stefano Computer Science Department, University of California at Los Angeles, 3531 Boelter Hall, 90095, Los Angeles, CA aut NATIONALLICENCE 700 1- Sastry Shankar Department of EECS, University of California at Berkeley, 237 Cory Hall, 94720, Berkeley, CA aut NATIONALLICENCE 773 0- International Journal of Computer Vision Kluwer Academic Publishers 68/1(2006-06-01), 7-25 0920-5691 68:1<7 2006 68 11263 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer