Ji, PanLi, HongdongDai, YuchaoReid, IanLisa O’Conner2020-06-24October 229781538610329http://hdl.handle.net/1885/205495Rigid 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 scene structure by factoring the relative camera poses out, we revisit the principle of "maximizing rigidity" in structure-from-motion literature, and develop a unified theory which is applicable to both rigid and non-rigid structure reconstruction in a rigidity-agnostic way. We formulate these problems as a convex semi-definite program, imposing constraints that seek to apply the principle of minimizing non-rigidity. Our results demonstrate the efficacy of the approach, with state-of-the-art accuracy on various 3D reconstruction problems.This research was supported by the Australian Research Council (ARC) through the Centre of Excellence in Robotic Vision, CE140100016, and through Laureate Fellowship FL130100102 to IDR. Y. Dai was supported in part by ARC Grant (DE140100180) and National Natural Science Foundation of China (61420106007).application/pdfen-AU© 2017 IEEE201710.1109/ICCV.2017.1062022-05-22