運動からの形状復元問題は,非線形最小2乗法による再投影誤差最小化として定式化できる.一意の解が得られる線形の定式化も知られているが,再投影誤差最小化の方が適用範囲が広く精度も高い等の利点がある.しかし,非線形問題であるたや計算量の削減(高速化)と局所解の回避(安定化)が重要な課題である.本研究では,これらの課題を扱う.また,屋外建物の全周形状復元問題を対象とし,画像数数百枚,特徴点数数百点の規模の実験を行い,提案手法の有効性を示す. / Simultaneous recovery of shape and motion from an image sequence is directly formulated as minimization of reprojection errors via the nonlinear least squares. Although several linear foromulations which ensure unique solution are also known, the nonlinear approach can be applied to much broader configurations, and gives more accurate results. We investigate fast optimization algorithm and several methods to avoid local minima for nonlinear reconstruction problem. We test our methods on recovering entire 3D shape from a building image sequence with several hundred images and several hundred feature points.