Batch Recovery of Multiple Views with Missing Data Using Direct Sparse Solvers

Using the so-called closure constraints, it is possible to estimate the projection matrices of the cameras observing a static scene given correspondences between multiple views. We present a batch algorithm for recovering all the cameras based on the closure constraints. The approach is motivated by the necessity of including as much information as possible in the initial recovery of the motion, as is done in factorisation schemes. The main advantage of the proposed method over factorisation is that it naturally deals with missing data. Compared to other algorithms, the method is very fast and flexible in terms of the selection of input data.