A General Approach for Determining 3 D Motion and

We present a general approach to determine 3D motion and structure of multiple objects undergoing arbitrary motions. We segment the scene based on 3D motion parameters. First, the general motion model is tted to each single trajectory. For this nonlin-ear tting, initial estimtes are obtained by a linear multiple motion SFM algorithm using the rst two frames. Next, trajectories are clustered into groups corresponding to diierent moving objects. In our approach , discontinuous trajectories, resulting from oc-clusion, are also allowed. Finally, the multiple tra-jectory tting is applied to each trajectory group to improve the estimates further. Our simulation results show that the proposed method is robust.