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Two-view multibody structure-and-motion with outliers

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2 Author(s)
K. Schindler ; Dept. of Electr. & Comput. Syst. Eng., Monash Univ., Clayton, Vic., Australia ; D. Suter

Multi-body structure-and-motion (MSaM) is the problem to establish the multiple-view geometry of several views of a 3D scene taken at different times, where the scene consists of multiple rigid objects moving relative to each other. We examine the case of two views. The setting is the following: given are a set of corresponding image points in two images, which originate from an unknown number of moving scene objects, each giving rise to a motion model. Furthermore, the measurement noise is unknown, and there are a number of gross errors, which are outliers to all models. The task to find an optimal set of motion models for the measurements is solved through Monte-Carlo sampling, careful statistical analysis of the data and simultaneous selection of multiple motion models.

Published in:

2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05)  (Volume:2 )

Date of Conference:

20-25 June 2005