Factorization based structure from motion with object priors

Paul Gay, Cosimo Rubino, Marco Crocco, Alessio Del Bue

Abstract: Highlights•We show that it is possible to solve simultaneously for affine camera calibration and 3D structure, where each object is approximated by a quadric, in a closed-form using multi-view relations given by the detections of a set of objects in an image sequence.•We compare the use of an affine and a perspective camera to estimate these quadrics.•We show that this result can be used to construct geometrical priors for 3D point reconstruction by exploiting the hypothesis that points should lie onto the surface of the objects.•We define the formalisation of this 3D point reconstruction with the FA technique and shows that it is remarkably robust in presence of high missing data and noisy measurements.