Structure from motion in dynamic scenes with multiple motions

In this study, an algorithm is proposed to solve the multi-body structure from motion (SfM) problem for the single camera case. The algorithm uses the epipolar criterion to segment the features belonging to independently moving objects. Once the features are segmented, corresponding objects are reconstructed individually by applying a sequential algorithm, which uses the previous structure to estimate the pose of the current frame. A tracker is utilized to increase the baseline and improve the F-matrix estimation, which is beneficial for both segmentation and 3D structure estimation. The experimental results on synthetic and real data demonstrate that our approach efficiently deals with the multi-body SfM problem.