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304 7 Structure from motion

(a) (b) (c) (d)

(e) (f)

(g) (h) (i) (j) (k)

(l) (m) (n)

Figure 7.1 Structure from motion systems: (a–d) orthographic factorization (Tomasi and Kanade 1992) c 1992
Springer; (e–f) line matching (Schmid and Zisserman 1997) c 1997 IEEE; (g–k) incremental structure from
motion (Snavely, Seitz, and Szeliski 2006); (l) 3D reconstruction of Trafalgar Square (Snavely, Seitz, and Szeliski
2006); (m) 3D reconstruction of the Great Wall of China (Snavely, Seitz, and Szeliski 2006); (n) 3D reconstruction
of the Old Town Square, Prague (Snavely, Seitz, and Szeliski 2006) c 2006 ACM.