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Carnegie Mellon Robotics Institute

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Abstract

We describe an algorithm for reconstructing a scene containing multiple moving objects. Given a monocular image sequence, we recover the scene structure, the trajectories of the moving objects and the camera motion simultaneously. The number of the moving objects is automatically detected without prior motion segmentation. Assuming that the objects are moving linearly with constant speeds, we propose a unified geometrical representation of the static scene and the moving objects. This representation enables the embedding of the motion constraints into the scene structure, which leads to a factorization-based algorithm. Experimental results on synthetic and real images are presented.

Keywords

structure from motion, motion detection

Notes

Associated Project(s): Modeling by Videotape

Text Reference

Mei Han and Takeo Kanade, "Reconstruction of a Scene with Multiple Linearly Moving Objects," Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '00), June, 2000.

BibTeX Reference

@inproceedings{Han_2000_3301,
   author = "Mei Han and Takeo Kanade",
   title = "Reconstruction of a Scene with Multiple Linearly Moving Objects",
   booktitle = "Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '00)",
   month = "June",
   year = "2000",
}

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