1. Structure from Motion : Who’s afraid of a couple typos? Work based on that of Hartley by Josh Wills

2. Pictures

3. Algorithm Summary Compute a set of correspondences Find the inliers via RANSAC Get linear estimates of F, P, P’, and X Use Levenberg-Marquardt to get a better estimation of F (and therefore P and P’) Re-estimate x and x’ using a nonlinear method Re-estimate X Solve for true X using ground truth

4. Initial reprojected points

5. Initial Structure

6. Final reprojected points

7. Corrected Structure

8. Structure with Cameras