Reconstructing 3D trajectories of independently moving objects using generic constraints

  • Authors:

  • Kemal Egemen Ozden;Kurt Cornelis;Luc Van Eycken;Luc Van Gool

  • Affiliations:

  • ESAT/PSI/Visics, University of Leuven, Belgium;ESAT/PSI/Visics, University of Leuven, Belgium and Research assistant of the Fund for Scientific Research--Flanders, Belgium (F.W.O.-Vlaanderen);ESAT/PSI/Visics, University of Leuven, Belgium;ESAT/PSI/Visics, University of Leuven, Belgium and Computer Vision Laboratory, ETH Zurich, Switzerland

  • Venue:
  • Computer Vision and Image Understanding - Model-based and image-based 3D scene representation for interactive visalization
  • Year:
  • 2004

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Abstract

The 3D reconstruction of scenes containing independently moving objects from uncalibrated monocular sequences still poses serious challenges. Even if the background and the moving objects are rigid, each reconstruction is only known up to a certain scale, which results in a one-parameter family of possible, relative trajectories per moving object with respect to the background. In order to determine a realistic solution from this family of possible trajectories, this paper proposes to exploit the increased linear coupling between camera and object translations that tends to appear at false scales. An independence criterion is formulated in the sense of true object and camera motions being minimally correlated. The increased coupling at false scales can also lead to the destruction of special properties such as planarity, periodicity, etc. of the true object motion. This provides us with a second, 'non-accidentalness' criterion for the selection of the correct motion among the one-parameter family.