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Chapter 7

Structure from motion

7.1 Triangulation .................................. 305
7.2 Two-frame structure from motion ........................ 307
7.2.1 Projective (uncalibrated) reconstruction ................ 312
7.2.2 Self-calibration ............................. 313
7.2.3 Application: View morphing ...................... 315
7.3 Factorization .................................. 315
7.3.1 Perspective and projective factorization ................ 318
7.3.2 Application: Sparse 3D model extraction ............... 319
7.4 Bundle adjustment ............................... 320
7.4.1 Exploiting sparsity ........................... 322
7.4.2 Application: Match move and augmented reality ........... 324
7.4.3 Uncertainty and ambiguities ...................... 326
7.4.4 Application: Reconstruction from Internet photos ........... 327
7.5 Constrained structure and motion ........................ 329
7.5.1 Line-based techniques ......................... 330
7.5.2 Plane-based techniques ......................... 331
7.6 Additional reading ............................... 332
7.7 Exercises .................................... 332

R. Szeliski, Computer Vision: Algorithms and Applications, Texts in Computer Science, 303
DOI 10.1007/978-1-84882-935-0_7, © Springer-Verlag London Limited 2011