Structure from Motion of Rigid and Jointed Objects

A method f o r s t r u c t u r e f rom mot ion i s p r e s e n t e d . The method makes a m o t i o n assumpt ion about the o b j e c t s b e i n g v i ewed . The m o t i o n assumpt ion i s t h a t a l l m o t i o n c o n s i s t s o f t r a n s l a t i o n s and r o t a t i o n s about a f i x e d a x i s . P a r a l l e l p r o j e c t i o n i s a l s o assumed. T h i s makes i t p o s s i b l e t o i n t e r p r e t the m o t i o n o f as few as two r i g i d l y connected p o i n t s . The method works f o r b o t h r i g i d and j o i n t e d o b j e c t s . R e s u l t s o f a t e s t o f t h i s method on Johansson 's d a t a a re p r e s e n t e d .