Articulated structure from motion by factorization

@article{Tresadern2005ArticulatedSF,
  title={Articulated structure from motion by factorization},
  author={Philip A. Tresadern and Ian D. Reid},
  journal={2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05)},
  year={2005},
  volume={2},
  pages={1110-1115 vol. 2}
}
Multibody affine structure from motion (SFM) methods commonly assume independent motion between objects such that the 'measurement matrix' has rank 4k. When multiple views are available, each object is then independently calibrated to a metric co-ordinate frame. However, articulated motion results in a further decrease in rank - a fact that we exploit to detect articulated objects and determine their degrees of freedom using simple linear methods. Furthermore, these objects cannot be recovered… CONTINUE READING
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