Dense shape and motion from region correspondences by factorization

In this paper, we propose an algorithm for estimating dense shape and motion of dynamic piecewise planar scenes from region correspondences using factorization. Region correspondences are used since they are easier to establish and more reliable than either line or point correspondences. The image measurements required are the centroid and area for each region. Singular value decomposition is employed to find the basis of range space of the motion, shape, and surface normal matrices. By imposing model constraints, motion, shape, and surface normal can be recovered only from region correspondences