Multi-stage 3D reconstruction under circular motion

In this paper, we propose a new method for 3D reconstruction from an image sequence captured by a camera with constant intrinsic parameters undergoing circular motion. We introduce a method, called circular projective reconstruction, for enforcing the circular constraint in a factorization-based projective reconstruction. To deal with the missing data problem, our method uses a multi-stage approach to reconstructing the objects and cameras, which first computes a circular projective reconstruction of a sub-sequence and then extends the reconstruction to the complete sequence. Camera matrix, rotation angles, and 3D structure are computed iteratively in a way that the 2D reprojection error is minimized. The algorithm is evaluated using real image sequences.