Lior Wolf and Amnon Shashua
School of Computer Science and Engineering,
The Hebrew University,
Jerusalem 91904, Israel
We consider a scene containing two independently and generally
moving objects, viewed by two general perspective views. Using
matching points arising from both objects simultaneously we derive a
geometrical constraint, applicable to points from both objects, we
call the segmentation matrix. We then use this constraint in order to
recover the fundamental matrices associated with each object, or
simply to segment the scene into the two objects. Moreover, when the
two bodies move in pure translation relative to each other we can both
segment the scene and recover the affine calibration (homography at
infinity) of the camera geometry. Unlike algorithms
suggested in the past we need only two images, we work with general
projective cameras (rather than affine or orthographic) and with
general body motion, and no prior information beyond point matches is
required.