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Rigid structure-from-motion (RSfM) and non-rigid structure-from-motion(NRSfM) have long been treated in the literature as separate (different)problems. Inspired by a previous work which solved directly for 3D scenestructure by factoring the relative camera poses out, we revisit the principleof "maximizing rigidity" in structure-from-motion literature, and develop aunified theory which is applicable to both rigid and non-rigid structurereconstruction in a rigidity-agnostic way. We formulate these problems as aconvex semi-definite program, imposing constraints that seek to apply theprinciple of minimizing non-rigidity. Our results demonstrate the efficacy ofthe approach, with state-of-the-art accuracy on various 3D reconstructionproblems.

"Maximizing rigidity" revisited: a convex programming approach for generic 3D shape reconstruction from multiple perspective views