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We present a technique for a complete 3D reconstruction of small objectsmoving in front of a textured background. It is a particular variation ofmultibody structure from motion, which specializes to two objects only. Thescene is captured in several static configurations between which the relativepose of the two objects may change. We reconstruct every static configurationindividually and segment the points locally by finding multiple poses ofcameras that capture the scene's other configurations. Then, the localsegmentation results are combined, and the reconstructions are merged into theresulting model of the scene. In experiments with real artifacts, we show thatour approach has practical advantages when reconstructing 3D objects from allsides. In this setting, our method outperforms the state-of-the-art. Weintegrate our method into the state of the art 3D reconstruction pipelineCOLMAP.

Reconstructing Small 3D Objects in front of a Textured Background