Structure from motion of rigid and jointed objects

摘要

A method for recovering the three-dimensional structure of moving rigid and jointed objects from several single camera views is presented. The method is based on the fixed axis assumption: all movement consists of translations and rotations about an axis that is fixed in direction for short periods of time. This assumption makes it possible to recover the structure of any group of two or more rigidly connected points. The structure of jointed objects is recovered by analyzing them as collections of rigid parts, and then unifying the structures proposed for the parts. The method presented here has been tested on several sets of data, including movies used to demonstrate human perception of structure from motion.