%PDF-1.3 1 0 obj << /Kids [ 3 0 R 4 0 R 5 0 R 6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R 12 0 R ] /Type /Pages /Count 10 >> endobj 2 0 obj << /Title (Camera Calibration by Global Constraints on the Motion of Silhouettes) /Producer (PyPDF2) /Author (Gil Ben\055Artzi) /Subject (2017 IEEE International Conference on Computer Vision) >> endobj 3 0 obj << /Parent 1 0 R /Rotate 0 /Contents 14 0 R /Resources << /XObject << /x8 15 0 R /R30 18 0 R /R32 19 0 R /x6 20 0 R /x12 23 0 R /R33 26 0 R /x10 27 0 R >> /ExtGState << /s9 30 0 R /s11 33 0 R /a0 << /CA 1 /ca 1 >> /R19 36 0 R /s5 37 0 R /s7 40 0 R >> /Font << /F2 43 0 R /R28 44 0 R /F1 48 0 R /R20 49 0 R /R34 53 0 R /R22 56 0 R /R24 60 0 R /R26 64 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 68 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 69 0 R 70 0 R 71 0 R 72 0 R 73 0 R 74 0 R 75 0 R 76 0 R 77 0 R 78 0 R ] /Type /Page >> endobj 4 0 obj << /Parent 1 0 R /Rotate 0 /Contents 79 0 R /Resources << /XObject << /R72 80 0 R /R73 81 0 R >> /ExtGState << /R19 36 0 R >> /Font << /F2 82 0 R /R20 49 0 R /F1 83 0 R /R22 56 0 R /R24 60 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 68 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 84 0 R 85 0 R 86 0 R 87 0 R 88 0 R 89 0 R 90 0 R 91 0 R 92 0 R 93 0 R 94 0 R 95 0 R 96 0 R 97 0 R 98 0 R 99 0 R 100 0 R 101 0 R 102 0 R 103 0 R 104 0 R 105 0 R 106 0 R 107 0 R 108 0 R 109 0 R 110 0 R 111 0 R 112 0 R ] /Type /Page >> endobj 5 0 obj << /Parent 1 0 R /Rotate 0 /Contents 113 0 R /Resources << /XObject << /R83 114 0 R /R84 115 0 R >> /ExtGState << /R19 36 0 R >> /Font << /R22 56 0 R /R26 64 0 R /R99 116 0 R /R101 121 0 R /F2 125 0 R /R28 44 0 R /R89 126 0 R /F1 130 0 R /R20 49 0 R /R91 131 0 R /R93 134 0 R /R87 138 0 R /R95 142 0 R /R85 147 0 R /R97 151 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 68 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 154 0 R 155 0 R ] /Type /Page >> endobj 6 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 156 0 R /Resources << /ExtGState << /R19 36 0 R >> /Font << /F2 157 0 R /R22 56 0 R /R99 116 0 R /R101 121 0 R /R24 60 0 R /R127 158 0 R /R28 44 0 R /F1 161 0 R /R26 64 0 R /R20 49 0 R /R93 134 0 R /R95 142 0 R /R129 162 0 R /R97 151 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 165 0 R 166 0 R 167 0 R 168 0 R 169 0 R 170 0 R 171 0 R 172 0 R 173 0 R 174 0 R 175 0 R 176 0 R 177 0 R 178 0 R 179 0 R 180 0 R 181 0 R 182 0 R ] >> endobj 7 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 183 0 R /Resources << /XObject << /R156 184 0 R /R157 186 0 R /R154 187 0 R /R160 189 0 R /R153 188 0 R /R158 191 0 R /R155 185 0 R >> /ExtGState << /R19 36 0 R >> /Font << /R22 56 0 R /R99 116 0 R /R24 60 0 R /F2 192 0 R /R28 44 0 R /F1 193 0 R /R26 64 0 R /R20 49 0 R /R93 134 0 R /R95 142 0 R /R97 151 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] /ColorSpace << /R159 190 0 R >> >> /MediaBox [ 0 0 612 792 ] /Annots [ 194 0 R 195 0 R 196 0 R 197 0 R 198 0 R 199 0 R 200 0 R 201 0 R 202 0 R 203 0 R 204 0 R 205 0 R 206 0 R 207 0 R 208 0 R 209 0 R 210 0 R ] >> endobj 8 0 obj << /Parent 1 0 R /Rotate 0 /Contents 211 0 R /Resources << /XObject << /R174 212 0 R /R175 213 0 R /R176 214 0 R /R177 215 0 R >> /ExtGState << /R19 36 0 R >> /Font << /R99 116 0 R /F2 216 0 R /R28 44 0 R /F1 217 0 R /R20 49 0 R /R34 53 0 R /R22 56 0 R /R24 60 0 R /R85 147 0 R /R26 64 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 68 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 218 0 R 219 0 R 220 0 R 221 0 R 222 0 R 223 0 R 224 0 R ] /Type /Page >> endobj 9 0 obj << /Parent 1 0 R /Rotate 0 /Contents 225 0 R /Resources << /XObject << /R190 226 0 R /R191 227 0 R >> /ExtGState << /R19 36 0 R >> /Font << /R22 56 0 R /R99 116 0 R /R101 121 0 R /F2 228 0 R /R28 44 0 R /F1 229 0 R /R26 64 0 R /R20 49 0 R /R34 53 0 R /R93 134 0 R /R95 142 0 R /R85 147 0 R /R97 151 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 68 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 230 0 R 231 0 R 232 0 R 233 0 R 234 0 R 235 0 R ] /Type /Page >> endobj 10 0 obj << /Parent 1 0 R /Rotate 0 /Contents 236 0 R /Resources << /XObject << /R210 237 0 R /R209 238 0 R >> /ExtGState << /R19 36 0 R >> /Font << /F2 239 0 R /R28 44 0 R /F1 240 0 R /R207 241 0 R /R20 49 0 R /R34 53 0 R /R22 56 0 R /R85 147 0 R /R26 64 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /Group 68 0 R /MediaBox [ 0 0 612 792 ] /Annots [ 245 0 R 246 0 R 247 0 R 248 0 R 249 0 R 250 0 R 251 0 R 252 0 R 253 0 R ] /Type /Page >> endobj 11 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 254 0 R /Resources << /ExtGState << /R19 36 0 R >> /Font << /R268 255 0 R /F2 258 0 R /F1 259 0 R /R20 49 0 R /R22 56 0 R /R24 60 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 260 0 R 261 0 R 262 0 R 263 0 R 264 0 R 265 0 R 266 0 R 267 0 R 268 0 R 269 0 R 270 0 R 271 0 R 272 0 R 273 0 R 274 0 R 275 0 R 276 0 R 277 0 R 278 0 R 279 0 R 280 0 R 281 0 R 282 0 R 283 0 R 284 0 R 285 0 R 286 0 R 287 0 R 288 0 R 289 0 R 290 0 R 291 0 R 292 0 R 293 0 R 294 0 R 295 0 R 296 0 R 297 0 R 298 0 R 299 0 R 300 0 R 301 0 R 302 0 R 303 0 R 304 0 R 305 0 R 306 0 R 307 0 R 308 0 R 309 0 R 310 0 R 311 0 R ] >> endobj 12 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 312 0 R /Resources << /ExtGState << /R19 36 0 R >> /Font << /F2 313 0 R /F1 314 0 R /R22 56 0 R /R24 60 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 315 0 R ] >> endobj 13 0 obj << /Type /Catalog /Pages 1 0 R >> endobj 14 0 obj << /Length 18211 >> stream q q q 0.10000 0 0 0.10000 0 0 cm /R19 gs 0 g q 10 0 0 10 0 0 cm BT /R20 14.34620 Tf 1 0 0 1 78.23200 675.06700 Tm [ (Camera) -249.99600 (Calibration) -250 (by) -250.01300 (Global) -250.01300 (Constraints) -250.00200 (on) -250.01300 (the) -250.00800 (Motion) -249.99800 (of) -250.01200 (Silhouettes) ] TJ /R22 11.95520 Tf 186.34200 -37.85820 Td [ (Gil) -250.00400 (Ben\055Artzi) ] TJ -167.21000 -13.94690 Td [ (W) 80 (eizmann) -249.99500 (Institute) -250.01500 (of) -250.01500 (Science) -12750 (Intel) -250.00600 (Labs) ] TJ 35.25510 -13.94800 Td [ (Reho) 14.99130 (v) 19.98530 (ot\054) -250.01400 (Israel) -13500 (Santa) -249.98900 (Clara\054) -250.01000 (CA\054) -249.98500 (USA) ] TJ /R20 11.95520 Tf 13.37580 -41.04610 Td (Abstract) Tj /R24 9.96260 Tf -83.92770 -24.32810 Td [ (W) 91.98650 (e) -309.99200 (addr) 36.99510 (ess) -309 (the) -310.01900 (pr) 44.98390 (oblem) -310.01100 (of) -310.01400 (epipolar) -309.01000 (g) 10.00320 (eometry) -310.01900 (using) -309.99700 (the) ] TJ -11.95510 -11.95510 Td [ (motion) -345.00800 (of) -344.00900 (silhouettes\056) -594.00800 (Suc) 14.98400 (h) -344.01600 (methods) -345.01300 (matc) 14.98770 (h) -344.01600 (epipolar) -345.00400 (lines) ] TJ 11.95470 TL T* [ (or) -463.99000 (fr) 44.98640 (ontier) -464.01400 (points) -464.98500 (acr) 45.01940 (oss) -463.98400 (vie) 15.01590 (ws\054) -518.00900 (whic) 15 (h) -463.99600 (ar) 36.98650 (e) -464.00600 (then) -463.98900 (used) -465.00800 (as) ] TJ 11.95630 TL T* [ (the) -352.99200 (set) -352.01000 (of) -352.98800 (putative) -351.99200 (corr) 36.98650 (espondences\056) -617.99200 (W) 91.98710 (e) -353.00500 (intr) 44.99740 (oduce) -352.01200 (an) -352.99000 (ap\055) ] TJ 11.95470 TL T* [ (pr) 44.98390 (oac) 14.98340 (h) -329 (that) -329.01900 (impr) 44.99370 (o) 10.00320 (ves) -329.98700 (by) -329.00300 (two) -329.01700 (or) 36.98520 (der) 10.00570 (s) -328.99800 (of) -328.99200 (ma) 10.00570 (gnitude) -329.99400 (t) 0.98758 (he) -329.98400 (per) 20.00400 (\055) ] TJ T* [ (formance) -260.99300 (o) 10.00320 (ver) -261.01800 (state\055of\055the\055art) -261.00400 (methods\054) -264.00500 (by) -261.99500 <7369676e690263616e746c79> -261.00300 (r) 37.01830 (e\055) ] TJ T* [ (ducing) -270.99100 (the) -271.00600 (number) -270.99400 (of) -271.00100 (outlier) 9.99220 (s) -271.00700 (in) -271.00100 (the) -271.00600 (putative) -270.98700 (matc) 14.98770 (hing) 15 (\056) -374.01400 (W) 91.98710 (e) ] TJ T* [ (model) -278.99600 (the) -279.00400 (fr) 44.98640 (ontier) -280.00600 (points\047) -279.02000 (corr) 36.98650 (espondence) -278.99800 (pr) 44.98510 (oblem) -278.99800 (as) -279.98000 (con\055) ] TJ T* [ (str) 14.99750 (ained) -332.00500 <036f77> -333.01900 (optimization\054) -353.00600 (r) 37.01960 (equiring) -331.98700 (small) -331.99400 (dif) 18.01660 (fer) 36.98400 (ences) -333.00600 (be\055) ] TJ 11.95590 TL T* [ (tween) -324.00800 (their) -322.98400 (coor) 36.98650 (dinates) -323.99400 (o) 10.00320 (ver) -323.98800 (consecutive) -324.01000 (fr) 14.99010 (ames\056) -530.99700 (Our) -324.01000 (ap\055) ] TJ 11.95510 TL T* [ (pr) 44.98390 (oac) 14.98340 (h) -315.00100 (is) -316.01200 (formulated) -314.99900 (as) -316.01500 (a) -315.00100 (Linear) -315.01200 (Inte) 39.99820 (g) 10.00320 (er) -315.98400 (Pr) 44.98270 (o) 10.00320 (gr) 14.99010 (am) -314.99900 (and) -316.01100 (we) ] TJ T* [ (show) -240.00900 (that) -240.01400 (due) -239.01300 (to) -239.98700 (the) -239.99200 (natur) 37.00240 (e) -240.00400 (of) -239.98700 (our) -239.00300 (pr) 44.98390 (oblem\054) -241.98200 (it) -239.98400 (can) -239.99400 (be) -240 (solved) ] TJ T* [ (ef) 18 <026369656e746c79> -203.98700 (in) -203.01300 (an) -203.99500 (iter) 14.99380 (ative) -203.99400 (manner) 110.98100 (\056) -293.98800 (Our) -203.99200 (method) -203.98600 (was) -203.98100 (validated) ] TJ T* [ (on) -352.01000 (four) -351.99600 (standar) 37.01340 (d) -352.01500 (datasets) -351.98300 (pr) 44.98390 (o) 10.00320 (viding) -353.01500 (accur) 14.98520 (ate) -352.01200 (calibr) 15.00480 (ations) ] TJ T* [ (acr) 45.01880 (oss) -250.02000 (very) -250.00400 (dif) 18.01660 (fer) 36.98280 (ent) -249.99000 (vie) 15.01590 (wpoints\056) ] TJ /R20 11.95520 Tf 37.11800 TL T* [ (1\056) -249.99000 (Intr) 18.01460 (oduction) ] TJ /R22 9.96260 Tf 11.95510 -19.34690 Td [ (Multi\055camera) -359.01200 (systems) -359 (are) -359.01100 (becoming) -359.98600 (increasingly) -359.00600 (more) ] TJ -11.95510 -11.95510 Td [ (popular) -486.01700 (for) ] TJ /R26 9.96260 Tf 51.73910 0 Td (3) Tj /R28 9.96260 Tf 4.98203 0 Td [ (D) -0.89936 ] TJ /R22 9.96260 Tf 13.36800 0 Td [ (reconstruction\054) -545.01100 (mark) 10.00810 (er) 19.98930 (\055less) -485.98500 (motion) -485.99500 (cap\055) ] TJ -70.08910 -11.95510 Td [ (ture\054) -326.99700 (surv) 14.99080 (eillance\054) -326.01200 (and) -311.98100 (e) 25.01050 (v) 14.98280 (en) -311.00600 (for) -311.00800 (\224smart) -312.01200 (homes\224\056) -494.01300 (T) 35.01870 (radition\055) ] TJ 11.95510 TL T* [ (ally) 64.98490 (\054) -388.99100 (epipolar) -362 (geometry) -361.99600 (is) -360.98500 (computed) -361.98700 (by) -360.98900 <026e64696e67> -362.01600 (the) -362.01100 (corre\055) ] TJ T* [ (sponding) -287.00700 (points) -285.99500 (between) -287.00400 (cameras\056) -418.98900 (Ho) 24.98360 (we) 25.01300 (v) 14.98280 (er) 39.98600 (\054) -295.98700 (in) -286.99900 (such) -286.01800 (a) -287.01600 (set\055) ] TJ 11.95630 TL T* [ (ting) -300.98400 (man) 14.99080 (y) -301.98400 (camera) -301.01700 (pairs) -300.99800 (are) -302.00100 (from) -300.99800 (v) 14.98280 (ery) -301.01100 (dif) 24.98600 (ferent) -301.99100 (vie) 24.98360 (wpoints) ] TJ 11.95470 TL T* [ (and) -253.99100 (consequently) 65.00750 (\054) -255.01400 (not) -254.01900 (enough) -254.01500 (reliable) -253.98700 (feature) -254.98400 (points) -254.00200 (can) -254 (be) ] TJ T* [ (matched) -379.99800 (automatically) 65.01490 (\056) -699.01800 (In) -380.01400 (cases) -378.99700 (where) -380.02000 (the) -380.00800 (silhouettes) -380.00800 (of) ] TJ T* [ (the) -235.99200 (objects) -236.99700 (in) -235.98800 (the) -237.01200 (scene) -236.00200 (are) -236.99200 (a) 19.99180 (v) 24.98110 (ailable) -235.98600 (or) -237.01700 (are) -236.01200 (easily) -237.00200 (e) 15.01220 (xtracted\054) ] TJ T* [ (it) -449.98900 (has) -449.99700 (been) -450.00200 (proposed) -450.01900 (to) -449.99100 (use) -449.99600 (their) -449.99100 (motion) -450 (for) -450.00600 (calibration) ] TJ (\133) ' ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 53.42970 200.55200 Tm (34) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 63.39220 200.55200 Tm [ (\135\056) -664.98800 (These) -368.99100 (methods) -367.98100 (match) -368.98100 (tangent) -367.99600 (epipolar) -369.01900 (lines) -367.99500 (on) -368.98700 (the) ] TJ -13.28010 -11.95590 Td [ (con) 39.99880 (v) 14.98280 (e) 15.01280 (x) -319.98100 (hull) -320 (of) -319.00400 (the) -320.01800 (silhouettes) -320.01600 (across) -319.98100 (vie) 24.98360 (ws) -318.99600 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 230.28600 188.59600 Tm (33) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 240.24800 188.59600 Tm [ (\135\056) -519.99200 (F) 14.99260 (or) -319.98300 (each) ] TJ -190.13600 -11.95510 Td [ (frame\054) -301.98900 (a) -291.01500 (similarity) -290.99800 (function) -290.98300 (for) -291.99200 (e) 25.01050 (v) 14.98280 (ery) -291.01300 (possible) -291.01300 (matching) -291.99800 (of) ] TJ 11.95510 TL T* [ (the) -394.98500 (corresponding) -396.01800 (tangent) -395.01100 (epipolar) -395.99500 (lines) -395.01000 (is) -395.02000 (e) 25.01050 (v) 24.98110 (aluated) -396 (and) ] TJ T* [ (the) -287.00300 (pair) -285.98700 (with) -286.98900 (the) -287.00400 (highest) -286 (similarity) -286.99900 (is) -286.99700 (selected) -285.98400 (as) -287.00800 (a) -287.01600 (putati) 25.00320 (v) 14.98280 (e) ] TJ T* [ (correspondence) -285.00400 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 118.78400 140.77600 Tm (7) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 123.76600 140.77600 Tm [ (\135\056) -414.99100 (Reco) 14.98770 (v) 14.98280 (ering) -285.98200 (the) -285.00400 (corresponding) -285.01600 (tangent) ] TJ -73.65350 -11.95510 Td [ (epipolar) -276.99500 (lines) -276.99200 (induces) -276.99300 (matching) -277.01900 (between) -277.00500 (the) -277.98500 (projections) -277.01500 (of) ] TJ 11.95590 TL T* [ (special) -362.98600 (points\054) -390.99500 (denoted) -362 (as) ] TJ /R24 9.96260 Tf 109.09300 0 Td [ (e) 19.99180 (xtr) 36.98280 (emal) -362.98700 (fr) 44.98640 (ontier) -363.01000 (poi) 0.99738 (n) -1.01454 (t) 0.98758 (s) ] TJ /R22 9.96260 Tf 95.87500 0 Td [ (\054) -390.99100 (across) ] TJ -204.96800 -11.95510 Td [ (vie) 24.98420 (ws) -322.01600 (where) -321.01000 (occlusions) -321.98700 (do) -320.99500 (not) -322.00800 (occur) -321.00800 (\050see) -321.99000 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 226.11200 104.91000 Tm (19) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 236.07400 104.91000 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 241.77300 104.91000 Tm (33) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 251.73500 104.91000 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 257.42400 104.91000 Tm (12) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 267.38600 104.91000 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 273.08500 104.91000 Tm (28) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 283.04700 104.91000 Tm (\135) Tj -232.93500 -11.95510 Td [ (for) -430.98800 (a) -430.99100 (detailed) -431.00800 (description\051\056) -852.99900 (Hereafter) 40.01540 (\054) -475.99700 (when) -431.01900 (referring) -430.99200 (to) ] TJ 11.95510 TL T* [ (frontier) -392.98300 (points\054) -428.98800 (we) -392.01400 (will) -393.00800 (refer) -393.01200 (to) -392.98100 (the) -392.98600 (e) 15.01220 (xtremal) ] TJ /R26 9.96260 Tf 188.95100 0 Td (3) Tj /R28 9.96260 Tf 4.98203 0 Td [ (D) -0.90181 ] TJ /R22 9.96260 Tf 12.43910 0 Td (frontier) Tj ET Q q 1133.98000 0 0 857.79500 3123.43000 4924.15000 cm /R30 Do Q q 1134.01000 0 0 858.16600 4282.32000 4924.15000 cm /R33 Do Q q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 374.55400 480.46000 Tm [ (\050a\051) -8250.01000 (\050b\051) ] TJ /R22 8.96640 Tf -65.69180 -20.92230 Td [ (Figure) -388 (1\056) -388.01500 (\050a\051) -387.99600 (The) -389.02000 (set) -388 (of) -388.00700 (possible) -387.98800 (frontier) -387.99400 (points) -388.01500 (are) -388 (denoted) -387.97700 (by) ] TJ 10.95900 TL T* [ (green) -326.00800 (circles\056) -538.01700 (It) -325.00300 (is) -325.98600 (dif) 25.00110 <0263756c74> -325.98400 (to) -325.98900 (distinguish) -326 (between) -326.01600 (true) -325.97800 (and) -325.02000 (f) 10.00370 (alse) ] TJ T* [ (frontier) -218.00100 (points) -218.98200 (because) -217.98500 (often) -218.98200 (the) -218.01200 (candidates) -218.01200 (are) -219.00900 (at) -218.01200 (nearby) -218.01200 (positions) ] TJ T* [ (and) -264.98400 (share) -265.01100 (the) -266.02100 (same) -264.98900 (tangents) -264.98100 (to) -264.99800 (the) -265.01900 (con) 40.01480 (v) 14.98650 (e) 15.01370 (x) -265.00800 (hull\056) -356.02200 (\050b\051) -264.99200 (The) -264.98700 (trajectory) ] TJ T* [ (of) -230.99700 (the) -230.99500 (true) -232.01000 (frontier) -230.98400 (points) -231.00600 (o) 14.98650 (v) 14.98650 (er) ] TJ /R34 8.96640 Tf 109.28400 0 Td [ (1) -0.89854 (5) -0.90398 ] TJ /R22 8.96640 Tf 11.28790 0 Td [ (consecuti) 25.01740 (v) 14.98650 (e) -231 (frames\056) -303.98900 (W) 80.00790 (e) -231 (look) -231.02200 (for) ] TJ -120.57200 -10.95780 Td [ (frontier) -249.97800 (points) -250 (whose) -250.00300 (positions) -249.98900 (v) 25.00660 (ary) -250.01100 (slo) 25.01740 (wly) -249.97800 (o) 14.98650 (v) 14.98650 (er) -250.01100 (time\056) ] TJ /R22 9.96260 Tf 34.32500 TL T* [ (points) -206.01000 (or) -206.00200 (to) -205.99300 (the) -205.99700 (image) -205.99000 (points) -206.99000 (t) 0.98513 (hat) -207.01400 (represent) -206 (their) -205.99500 (projections\056) ] TJ 11.95510 TL T* [ (The) -225.99700 (epipolar) -225.98400 (geometry) -226.01900 (is) -225.00900 (e) 25.01050 (v) 24.98110 (aluated) -225.99200 (by) -225.99200 (using) -226.01100 (RANSA) 39.98840 (C) -225.98700 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 531.83500 358.46400 Tm (16) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 541.79800 358.46400 Tm (\135) Tj -232.93600 -11.95510 Td [ (with) -306.00500 (the) -306.02000 (putati) 25.00320 (v) 14.98280 (e) -307.01200 (list) -306 (of) -305.98600 (matching) -305.99300 (epipolar) -306.00800 (lines) -306.98800 (or) -305.98800 (frontier) ] TJ 11.95510 TL (points\056) ' 11.95470 -13.20270 Td [ (A) -216.98100 (k) 10.00320 (e) 15.01220 (y) -217.01800 (limitation) -217.98100 (of) -216.98100 (pre) 25.01050 (vious) -216.99300 (approaches) -217.01800 (is) -217.00800 (the) -217.99300 (hi) 0.99003 (gh) -217.99300 (num\055) ] TJ -11.95470 -11.95510 Td [ (ber) -261.99800 (of) -261.99300 (outliers) -262.98600 (in) -261.98300 (the) -261.98800 (reco) 15.01220 (v) 14.98280 (ered) -262 (list) -262.00500 (of) -263.01500 (correspondi) 1.00473 (ng) -263.00500 (epipo\055) ] TJ T* [ (lar) -436.98600 (lines) -437.00300 (or) -436.00300 (frontier) -437.01500 (points\056) -870.99200 (This) -435.98100 (is) -437.01000 (mainly) -436.99100 (because) -436.98600 (tw) 10.00810 (o) ] TJ 11.95590 TL T* [ (nearby) -285.00900 (points) -285.01600 (on) -285.00100 (the) -285.00400 (con) 39.99820 (v) 14.98280 (e) 15.01220 (x) -285.00600 (hull) -284.98700 (might) -285.01600 (mak) 10.01300 (e) -285.99600 (only) -284.98700 (a) -285.01600 (minor) ] TJ 11.95510 TL T* [ (dif) 24.98600 (ference) -393.01300 (in) -392.98100 (their) -394 (associated) -393.01300 (tangents\056) -738.98400 (Here\054) -428.99200 (we) -394.01300 (present) ] TJ T* [ (an) -303.00800 (approach) -303.00300 (that) -302.99400 (mark) 10.00810 (edly) -302.99400 (reduces) -303.00800 (the) -302.99800 (number) -302.98900 (of) -303.00800 (outliers\056) ] TJ T* [ (This) -220.02000 (leads) -219.99300 (to) -219.99000 (an) -220.00300 (impro) 15.00480 (v) 14.98280 (ement) -219.98800 (of) -220.00300 (tw) 10.00810 (o) -219.99800 (orders) -221.01700 (of) -220.00300 (magnitude) -220.00300 (in) ] TJ T* [ (the) -211.01600 (performance\056) -297.00700 (Unlik) 9.98608 (e) -210.98900 (pre) 25.99080 (v) -1.01454 (i) 0.98513 (ous) -211.00900 (approaches) -211.01900 (where) -210.98900 (the) -211.01400 (pu\055) ] TJ T* [ (tati) 24.99340 (v) 14.98280 (e) -238.00400 (matching) -238.98700 (is) -237.98700 (carried) -238.98700 (out) -237.98000 (for) -238.98000 (each) -238.00900 (frame) -238.98500 (independently) 65.01370 (\054) ] TJ 11.95630 TL T* [ (we) -307.99000 (require) -307.98500 (that) -308.01200 (the) -308.02000 (positions) -308.01200 (of) -307.98800 (frontier) -308.99700 (points) -307.99300 (in) -308.01700 (consecu\055) ] TJ 11.95470 TL T* [ (ti) 24.99090 (v) 14.98280 (e) -218.00800 (frames) -218 (will) -218.01800 (v) 24.98110 (ary) -218.00500 (slo) 24.99340 (wly) 64.98430 (\056) -299.00400 (Fig\056) ] TJ ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 441.25600 201.79900 Tm (1) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 446.23800 201.79900 Tm [ (\056a) -218.00300 (sho) 24.99090 (ws) -217.99300 (a) -218.00800 (set) -217.99300 (of) -218.00300 (possible) ] TJ -137.37500 -11.95510 Td [ (frontier) -354.01000 (points) -355.00400 (in) -354.00700 (the) -354.99200 (image) -354.00500 (denoted) -354 (by) -354.99000 (full) -354.00500 (green) -355 (circles\056) ] TJ 11.95510 TL T* [ (Since) -296.01200 (nearby) -295.00700 (points) -295.99500 (share) -295.01000 (similar) -295.99500 (tangents\054) -307.01700 (it) -294.99500 (is) -296.01400 (hard) -295.01000 (to) -296.01900 (re\055) ] TJ T* [ (co) 15.01710 (v) 14.98280 (er) -222.01000 (the) -221.99500 (true) -221.99700 (frontier) -223.01200 (points\056) -299.98900 (Fig\056) ] TJ ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 444.92100 165.93400 Tm (1) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R22 9.96260 Tf 1 0 0 1 449.90300 165.93400 Tm [ (\056b) -221.99200 (sho) 24.99090 (ws) -223.01200 (the) -221.99200 (trajectories) ] TJ -141.04100 -11.95510 Td [ (of) -333 (the) -332.01600 (true) -332.99800 (frontier) -332.99300 (points) -333.00800 (o) 14.98280 (v) 14.98280 (er) ] TJ /R26 9.96260 Tf 127.49500 0 Td (15) Tj /R22 9.96260 Tf 13.27700 0 Td [ (frames\056) -558.02000 (By) -332.98400 (looking) -333.00300 (for) ] TJ -140.77200 -11.95590 Td [ (frontier) -213.99400 (points) -214.98900 (that) -215.00800 (v) 24.98110 (ary) -214.00600 (slo) 24.99580 (wly) -215.00800 (o) 14.98280 (v) 14.98280 (er) -214.01300 (time\054) -222.01700 (we) -214.00400 (can) -214.98900 (accurately) ] TJ 11.95510 TL T* [ (reco) 15.00980 (v) 14.98280 (er) -250.00500 (their) -249.98500 (positions\054) -249.98000 (up) -249.98800 (to) -249.98800 (sub\055pix) 15.00730 (el) -249.99300 (accurac) 14.99750 (y) 65.01370 (\056) ] TJ 11.95470 -13.20270 Td [ (W) 79.98660 (e) -335.00800 (model) -333.99800 (the) -334.99600 (problem) -335.01800 (as) -335.00300 (a) -333.98800 (constrained) -335.01800 <036f> 24.99580 (w) -334.99800 (optimiza\055) ] TJ -11.95470 -11.95510 Td [ (tion) -312.98200 (problem\056) -496.98600 (At) -312.99700 (each) -311.99500 (time) -312.98200 (instant) -311.99200 (we) -313.00700 (look) -312.98200 (for) -311.98700 (tw) 10.00810 (o) -313.00200 (corre\055) ] TJ T* [ (sponding) -301.98400 (pairs) -300.99900 (of) -301.98600 (frontier) -300.99900 (points\056) -464.98100 (This) -302.00400 (translates) -300.98400 (into) -302.00400 <026e642d> ] TJ T* [ (ing) -322.98800 (tw) 10.00810 (o) -321.98100 (paths) -322.98500 (in) -322.99300 (the) -322.01700 (graph) -322.99500 (under) -322.99500 (a) -321.99000 (set) -322.99500 (of) -323.00500 (constraints\056) -527.99000 (The) ] TJ -13.74100 -29.88790 Td (1) Tj ET Q Q Q q q 1 1 1 rg /a0 gs 48.40600 786.42200 515.18800 -52.69900 re f q /s5 gs /x6 Do Q q /s7 gs /x8 Do Q q /s9 gs /x10 Do Q q /s11 gs /x12 Do Q Q Q Q q 1 0 0 1 0 0 cm BT /F1 12 Tf 14.40000 TL ET 1 1 1 rg n 270 47 72 14 re f* 0.50000 0.50000 0.50000 rg BT /F2 9 Tf 10.80000 TL ET BT 1 0 0 1 297 50 Tm (5334) Tj T* ET Q endstream endobj 15 0 obj << /Filter /FlateDecode /Resources << /ExtGState << /a0 << /CA 1 /ca 1 >> >> /XObject << /x18 16 0 R >> >> /Length 28 /Group << /Type /Group /S /Transparency /CS /DeviceRGB /I true >> /BBox [ 78 746 96 765 ] /Type /XObject /Subtype /Form >> stream x+O4PH/VЯ0Pp 0 endstream endobj 16 0 obj << /Filter /FlateDecode /Resources 17 0 R /Length 107 /Type /XObject /BBox [ 78 746 96 765 ] /Subtype /Form >> stream xe AC̬wʠ =p,?]%+H-
Jc "82w8VSnGW;"
endstream
endobj
17 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
18 0 obj
<<
/Filter /FlateDecode
/BitsPerComponent 8
/Height 264
/Length 6844
/ColorSpace /DeviceRGB
/DecodeParms <<
/Columns 349
/Colors 3
/Predictor 15
>>
/Width 349
/Subtype /Image
>>
stream
xUŖǏWAq #^D/hc}Gשּ>9cL8"7W#jHQ
6g}묳뜟yEU{W}IU;/q~>?>(
vFdzyՅ%n,VT1?~Pd>O?%LW /HBܠ/x/0ЪzO˖-[{ߋaxA"Ol/%p$
;f^(?%?iyB^T$x5xxE
S'xA`ouТ? q] ^0B
^:^hџIƻ.]W7(9&NI/$E3"$c3H
IC%IPB>uOoV6R/
B/ĉBQB^5x!/ĩB^q1 ^0B.E>i$_Lh{__=cY:ߞ>qxE/T/B\/DYF/x!Ȓ/41xQ/x!/KqxEpBʺVΟ]l3|Ȋ+d+II|+ǘXORƗO|d@]Ra}/H*B/B
^yB¥-r';&x!ȎjB̃M.m;١_hDo/ĩ%/\r%|-:4aϮoF-_6y??WU#oo}P>SŤSѬM35*dI.he&P"p
^0BB^J⅞^YB^=
-1//MZbSL5kW^5<ꫯ|PNN9A|P
|>8sLcEYBd"yz,S||x
A1Bm0B
^=ZB^:^5x!/hQ6K1xx/qŋǕ%ETzA֕dݻw'~sx >xi|pΝD[Kߣyfٕ??xx]/ /^qI0x/`T.Z/$^H/EcEnU|P*@^o3\̝;nfW K
[3܊;:9zbxx!n/4qu^1x!/YB^q1wng +{g?Ylgq+a^wR!# 2GჇzTx.+N/9pO$S{BM/s 2m_xʮ^hx!`
JBzԀ$^ТMPbB%x!xE|IТ-Jg/[l~N>=_AyQ6y濂)O4g͚<%%`n(B`$^x/