Distortion of Shape from Motion

Given that most current Structure From Motion (SFM) algorithms cannot recover true motion estimates, it is important to understand the impact such motion errors have on the shape reconstruction. In this paper, we present a theoretical model to understand the impact that errors in the motion estimates have on shape recovery. Using this model, we focus on the recovery of second order shape under different generic motions, each of which presenting different degrees of error sensitivity. Understanding such different distortion behaviour is important if we want to design better fusion strategy with other shape cues.