Metric of affine shape and motion: the intuitive interpretation in terms of the factorization method
Jun Fujiki, Takeshi Kurata · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1997
The factorization method has been sued for recovering both the shape of an object and the motion of a camera from sequential images. This method consist of two steps. The first step is to decompose measurement matrix into a product of two matrices. And the second step is to determine a non- singular matrix to revise these matrices. Mathematical consideration of this method is not paid much attention. In this paper, we elucidate the mathematical meaning of the second step. This gives intuitive interpretation of many facts of shape from motion problem. It makes clear to understand why we need three distinct affine projection images to determine the shape and motion of camera and what information we can get from two affine projection images. We also consider the factorization method for two images.