梳理三维重建方法的分类体系，揭示其理论基础与未来方向。
A Taxonomy of Structure from Motion Methods
- 按关注重点分为运动、结构、联合优化三类方法
- 明确不同问题下SfM可解的理论条件
- 适合研究三维视觉与几何推理的学者参考
结构从运动（SfM）是指从多张图像中的点对应关系中恢复场景的三维结构（点的3D坐标）和相机运动（相机矩阵）的问题。该问题多年来受到广泛关注，既有实际重建流程也有理论成果。本文旨在对SfM方法进行概念性综述，根据各方法侧重于运动或结构的哪一部分，将其划分为三大类别。所提出的分类体系为现有SfM方法提供了新视角，并揭示了开放问题及潜在的研究方向。特别强调了使SfM问题有良好定义的理论条件，这些条件依赖于具体的问题设定。
原文摘要 · Abstract (English)
Structure from Motion (SfM) refers to the problem of recovering both structure (i.e., 3D coordinates of points in the scene) and motion (i.e., camera matrices) starting from point correspondences in multiple images. It has attracted significant attention over the years, counting practical reconstruction pipelines as well as theoretical results. This paper is conceived as a conceptual review of SfM methods, which are grouped into three main categories, according to which part of the problem - between motion and structure - they focus on. The proposed taxonomy brings a new perspective on existing SfM approaches as well as insights into open problems and possible future research directions. Particular emphasis is given on identifying the theoretical conditions that make SfM well posed, which depend on the problem formulation that is being considered.
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