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The perspective camera and the isometric surface prior have recently gatheredincreased attention for Non-Rigid Structure-from-Motion (NRSfM). Despite therecent progress, several challenges remain, particularly the computationalcomplexity and the unknown camera focal length. In this paper we present amethod for incremental Non-Rigid Structure-from-Motion (NRSfM) with theperspective camera model and the isometric surface prior with unknown focallength. In the template-based case, we provide a method to estimate fourparameters of the camera intrinsics. For the template-less scenario of NRSfM,we propose a method to upgrade reconstructions obtained for one focal length toanother based on local rigidity and the so-called Maximum Depth Heuristics(MDH). On its basis we propose a method to simultaneously recover the focallength and the non-rigid shapes. We further solve the problem of incorporatinga large number of points and adding more views in MDH-based NRSfM andefficiently solve them with Second-Order Cone Programming (SOCP). This does notrequire any shape initialization and produces results orders of times fasterthan many methods. We provide evaluations on standard sequences withground-truth and qualitative reconstructions on challenging YouTube videos.These evaluations show that our method performs better in both speed andaccuracy than the state of the art.

Incremental Non-Rigid Structure-from-Motion with Unknown Focal Length