# "Maximizing rigidity" revisited: a convex programming approach for generic 3D shape reconstruction from multiple perspective views

arXiv: https://arxiv.org/abs/1707.05009 · HTML: https://mlsanity.com/paper/1707.05009/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Jul 2017.

## Built on by (most cited first, 2 of 2)

- [Non-Rigid Structure-from-Motion via Differential Geometry with Recoverable Conformal Scale](https://mlsanity.com/paper/2510.01665/) (2025)
- [Convex Relaxations for Isometric and Equiareal NRSfM](https://mlsanity.com/paper/2211.16005/) (2022)

## Abstract (arXiv)

Rigid 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.