caa a22 4500 469036060 CHVBK 20180323132756.0 cr unu---uuuuu 170328e19921101xx s 000 0 eng 10.1007/BF00129684 doi (NATIONALLICENCE)springer-10.1007/BF00129684 Shape and motion from image streams under orthography: a factorization method [Elektronische Daten] [Carlo Tomasi, Takeo Kanade] 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 2F×P 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. Kluwer Academic Publishers, 1992 Tomasi Carlo Department of Computer Science, Cornell University, 14850, Ithaca, NY aut Kanade Takeo School of Computer Science, Carnegie Mellon University, 15213, Pittsburgh, PA aut International Journal of Computer Vision Kluwer Academic Publishers 9/2(1992-11-01), 137-154 0920-5691 9:2<137 1992 9 11263 https://doi.org/10.1007/BF00129684 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00129684 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Tomasi Carlo Department of Computer Science, Cornell University, 14850, Ithaca, NY aut NATIONALLICENCE 700 1- Kanade Takeo School of Computer Science, Carnegie Mellon University, 15213, Pittsburgh, PA aut NATIONALLICENCE 773 0- International Journal of Computer Vision Kluwer Academic Publishers 9/2(1992-11-01), 137-154 0920-5691 9:2<137 1992 9 11263 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer