Estimation of Multiple Motions from Two Views

Abstract

So far we have been concerned with single rigid-body motions. Consequently, the algorithms described can be applied to a camera moving within a static scene, or to a single rigid object moving relative to a camera. In practice, this assumption is rather restrictive: interaction with real-world scenes requires negotiating physical space with multiple objects. In this chapter we consider the case of scenes populated with multiple rigid objects moving independently.

The elegance of a mathematical theorem is directly proportional to the number of independent ideas one can see in the theorem and inversely proportional to the effort it takes to see them.

— George Pólya, Mathematical Discovery, 1981