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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.
Computer Vision and Pattern Recognition, 2005. CVPR 2005. IEEE Computer Society Conference on (Volume:2 )
Date of Conference: 20-25 June 2005