Factorization without Factorization: Complete Recipe
Kenichi Kanatani, Yasuyuki Sugaya · Institutional Repositories DataBase (IRDB) · 2004
The Tomasi-Kanade factorization for reconstructing the 3-D shape of the feature points tracked through a video stream is widely regarded as based on factorization of a matrix by SVD (singular value decomposition). This paper points out that the core principle is the affine camera approximation to the imaging geometry and that SVD is merely one means of numerical computation. We first describe the geometric structure of the problem and then give a complete programming scheme for 3-D reconstruction.