Weighted factorization

Factorization methods use linear subspace constraints to recover 3D rigid structures from 2D motion. Usually, these methods give equal weight to the contribution of each region (or feature) to the estimates of the 3D structure. In this paper, we accommodate different confidence weights for the 2D motion parameter estimates of each region, by rewriting the problem as the factorization of a modified matrix. This incurs no additional computational cost.