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We address the classical computer vision problems of rigid and nonrigid structure from motion (SFM) with occlusion. We assume that the columns of the input observation matrix W describe smooth 2D point trajectories over time. We then derive a family of efficient methods that estimate the column space of W using compact parameterizations in the Discrete… (More)

This paper presents a novel range image segmentation algorithm based on planar surface extraction. The algorithm was applied to common range image databases and was favorably compared against seven other segmentation algorithms using a popular evaluation framework. The experimental results show that, as compared to the other methods, our algorithm presents… (More)

Non-rigid structure from motion (NR-SFM) is a difficult, underconstrained problem in computer vision. This paper proposes a new algorithm that revises the standard matrix factorization approach in NR-SFM. We consider two alternative representations for the linear space spanned by a small number K of 3D basis shapes. As compared to the standard approach… (More)

Non-rigid structure from motion (NRSFM) is a classical un-derconstrained problem in computer vision. A common approach to make NRSFM more tractable is to constrain 3D shape deformation to be smooth over time. This constraint has been used to compress the deformation model and reduce the number of unknowns that are estimated. However, temporal smoothness… (More)

This paper presents a novel range image segmentation method employing an improved robust estimator to iteratively detect and extract distinct planar and quadric surfaces. Our robust estimator extends M-estimator Sample Consensus/Random Sample Consensus (MSAC/RANSAC) to use local surface orientation information, enhancing the accuracy of inlier/outlier… (More)

Non-rigid structure from motion (NRSFM) is a difficult, underconstrained problem in computer vision. The standard approach in NRSFM constrains 3D shape deformation using a linear combination of K basis shapes; the solution is then obtained as the low-rank factorization of an input observation matrix. An important but overlooked problem with this approach is… (More)

We present a new range image segmentation algorithm based on the extraction of planar and general quadric surfaces , which is of great relevance in man-made environments , built largely of low-order surfaces. We describe how our robust estimator can effectively reject erroneous surface hypotheses, while identifying points describing a general quadric… (More)