On the Distortion of Shape Recovery from Motion

Given that most current Structure From Motion (SFM) algorithms cannot recover true motion estimates, it is important to understand the impact such motion errors have on the shape reconstruction. In this paper, various robustness issues surrounding different types of second order shape estimates recovered from motion cue are addressed. We present a theoretical model to understand the impact that errors in the motion estimates have on shape recovery. Using this model, we focus on the recovery of second order shape under different generic motions, each of which presenting different degrees of error sensitivity. Understanding such different distortion behavior is important if we want to design better fusion strategy with other shape cues