A Unique Recovery of3D Shape and Size from Motion

Fact,orization is one of the most practical lnethocl to recover 3D shape arid motion simultaneously fro111 2D images with stable and fast computation. However, there still remain two crucial problems to be solved in real situations; one is to determine the true shape from a pair of visually equivalent candidates and the other is to measure the actual size of the object. This paper presents a method to solve the shape and size problems by the factorization with action; that is, 3D recovery is performed from an image sequence with a known trajectory of a single feature point given by the compiiter-controlled robot hand, arid we determine the shape and size by evaluating the co~isistency between computed shape and the given trajectory. Experi~nents results performed in sir nu la ti or^ study and in real world have shown the effectiveness of our niethocl.