Multiple Motion Scene Reconstruction from Uncalibrated Views

We describe a reconstruction method of multiple motion scenes, which are the scenes containing multiple moving objects, from uncalibrated views. Assuming that the objects are moving with constant velocities, the method recovers the scene structure, the trajectories of the moving objects, the camera motion and the camera intrinsic parameters (except skews) simultaneously. The number of the moving objects is automatically detected without prior motion segmentation. The method is based on a uni£ed geometrical representation of the static scene and the moving objects. It £rst performs a projective reconstruction using a bilinear factorization algorithm, and then converts the projective solution to a Euclidean one by enforcing metric constraints. Experimental results on synthetic and real images are presented.