Rigid Motion and Structure from Curves Using Scale Space

This article presents an extension of works by Olivier Faugeras and Th eo Papadopoulo on moving 3D curves. They have developed a theory for the motion elds of 3D curves seen in a monocular sequence of 2D images and described methods for computing the kinematic screw (; V) of the curve and its time derivative (_ ; _ V) in the case of rigid 3D motion. Here the results of implementing one of these methods are reported and compared to a previous implementation of another of the methods. Furthermore aspects of a scale space extension of the solution are discussed.