AbstractHeyden et al. introduced an iterative factorization method for projective reconstruction from image sequences. In their formulation, the projective structure and motion are computed by using an iterative factorization based on 4D subspace. In this paper, the problem is reformulated based on fact that the x, y, and z coordinates of each feature in projective space are known from their projection. The projective reconstruction, i.e., the relative depths w and the 3D motion, is obtained by a simple iterative factorization based on 1D subspace. This allows the use of very fast algorithms even when using a large number of features and large number of frames. The experiments with both simulate and real data show that the method presented in the paper is efficient and has good convergency.
A factorization based algorithm for multi-image projective structure and motion