  We consider the problem of reconstructing a 3-D scene from a moving camera
with high frame rate using the affine projection model. This problem is
traditionally known as Affine Structure from Motion (Affine SfM), and can be
solved using an elegant low-rank factorization formulation. In this paper, we
assume that an accelerometer and gyro are rigidly mounted with the camera, so
that synchronized linear acceleration and angular velocity measurements are
available together with the image measurements. We extend the standard Affine
SfM algorithm to integrate these measurements through the use of image
derivatives.
