In this paper we present an algorithm for structure and motion (SM) recovery under affine projection from video sequences that is suitable for real time applications. The algorithm tracks the motion of a single structure, be it an object or the entire scene itself, allowing for any tyhpe of camera motion. This could be used for example to track the moton of a vehicle in a warehouse (single object, static camera) or for visual navigation from a noving platform (track scene from moving camera).
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