Rigid structure-from-motion (RSfM) and non-rigid structure-from-motion (NRSfM) have long been treated in the literature as separate (different) problems. Inspired by a previous work which solved directly for 3D scene structure by factoring the relative camera poses out, we revisit the principle of "maximizing rigidity" in structure-from-motion literature, and develop a unified theory which is applicable to both rigid and non-rigid structure reconstruction in a rigidity-agnostic way. We formulate these problems as a convex semi-definite program, imposing constraints that seek to apply the principle of minimizing non-rigidity. Our results demonstrate the efficacy of the approach, with state-of-the-art accuracy on various 3D reconstruction problems.
@article{arxiv.1707.05009,
title = {"Maximizing rigidity" revisited: a convex programming approach for generic 3D shape reconstruction from multiple perspective views},
author = {Pan Ji and Hongdong Li and Yuchao Dai and Ian Reid},
journal= {arXiv preprint arXiv:1707.05009},
year = {2017}
}