| This thesis describes a, technique for dynamically reconstructing the shape of an object from motion under orthography. This technique represents the shape as a 3D triangular mesh, and the mesh grows when previously occluded parts of the object become visible. The shape of the existing structure is also continually updated as the mesh is tracked over time. The shape is reconstructed without using factorization techniques, and the reconstructed shape is in turn used to estimate the rigid motion parameters for a given frame. As a result, the shape estimation and pose estimation steps go hand-in-hand to formulate a unifying framework for tracking and structure from motion. Current results have shown potential with this technique, and more powerful representations of the structure, such as appearance, shading and deformation information, can be added onto this framework in future works. |
