On the distortion of shape recovery from motion

摘要

Given that most current structure from motion (SFM) algorithms cannot recover true motion estimates reliably, it is important to understand the impact such motion errors have on the shape reconstruction. In this paper, various robustness issues surrounding different types of second order shape estimates recovered from motion cue are addressed. We present a theoretical model to understand the impact that errors in the motion estimates have on shape recovery. Using this model, we focus on the recovery of second order shape under different generic motions, each of these motions presenting different degrees of error sensitivity. We also show that different shapes exhibit different degrees of robustness with respect to its recovery. Understanding such different distortion behavior is important if we want to design better fusion strategy with other shape cues.