Introduction

The factorization method

? Stability on numerical computation (treat all images uniformly)

? Simple formulation

? Extension to various aims

(e.g. line and plane correspondences, perspective projection,

segmenting plural rigid objects, etc )

For real-time applications in the real environment

(e.g. augmented reality, wearable interface, etc)

We focus on

? Robustness against outliers (e.g. false matches, other objects)

?Estimating a dominant 3D motion by the LMedS method

? Computational cost at each frame

?Updating structure and motion recursively

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