Correspondence-free Synchronization and Reconstruction in a Non-rigid Scene


Lior Wolf  and Assaf Zomet

School of Computer Science and Engineering,

The Hebrew University,

Jerusalem 91904, Israel


3D reconstruction of a dynamic non-rigid scene from features in two cameras

 usually requires synchronization and correspondences between the cameras. 

These may be hard to achieve due to occlusions, wide base-line, different

zoom scales, etc.

In this work we present an algorithm for reconstructing a non-rigid scene

from sequences acquired by two uncalibrated non-synchronized fixed orthographic



It is assumed that (possibly) different points are tracked in the two


The only constraint used to relate the two cameras is that every 3D point

tracked in one sequence can be described as a linear combination of some of

the 3D points tracked in the other sequence.

Such constraint is useful, for example, for articulated objects.

We may track some points on an arm in the first sequence, and some other

points on the same arm in the second sequence.

On the other extreme, this model can be used for generally moving points

tracked in both sequences without knowing the correct permutation.

In between, this model can cover non-rigid bodies, with local rigidity



We present linear algorithms for synchronizing the two sequences and

reconstructing the 3D points tracked in both views. Outlier points are

automatically detected and discarded. The algorithm can handle

both 3D objects and planar objects in a unified framework, therefore avoiding

numerical problems existing in other methods.