A geometric interpretation of weak-perspective motion

We present a geometric interpretation of the problem of motion recovery from three weak-perspective images. Our interpretation is based on reducing the problem of estimating the motion to a problem of finding triangles on a sphere whose angles are known. Using this geometric interpretation a simple method to completely recover the motion parameters using three images is developed. The results of running the algorithm on real images are presented. In addition we describe which of the various motion parameters can be recovered already from two images. Index Terms-Weak-perspective projection structure from motion.