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Published Articles >> Table of Contents >> Abstract
Fifth International Conference on Computer Vision (ICCV'95)
p. 1071
A multi-body factorization method for motion analysis
J. Costeira, Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
T. Kanade, Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ICCV.1995.466815
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The structure from motion problem has been extensively studied in the field of computer vision. Yet, the bulk of the existing work assumes that the scene contains only a single moving object. The more realistic case where an unknown number of objects move in the scene has received little attention, especially for its theoretical treatment. We present a new method for separating and recovering the motion and shape of multiple independently moving objects in a sequence of images. The method does not require prior knowledge of the number of objects, nor is dependent on any grouping of features into an object at the image level. For this purpose, we introduce a mathematical construct of object shapes, called the shape interaction matrix, which is invariant to both the object motions and the selection of coordinate systems. This invariant structure is computable solely from the observed trajectories of image features without grouping them into individual objects. Once the structure is computed, it allows for segmenting features into objects by the process of transforming it into a canonical form, as well as recovering the shape and motion of each object.
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 Additional Information
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Index Terms- computer vision; motion estimation; feature extraction; natural scenes; matrix algebra; image segmentation; multi body factorization method; motion analysis; multi-body factorization method; structure from motion problem; computer vision; realistic case; motion recovery; multiple independently moving objects; image sequence; mathematical construct; object shapes; shape interaction matrix; object motions; coordinate systems; invariant structure; observed trajectories
Citation:
J. Costeira, T. Kanade,
"A multi-body factorization method for motion analysis,"
iccv,
p. 1071,
Fifth International Conference on Computer Vision (ICCV'95),
1995
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