  We present a family of online algorithms for real-time factorization-based
structure from motion, leveraging a relationship between incremental singular
value decomposition and recently proposed methods for online matrix completion.
Our methods are orders of magnitude faster than previous state of the art, can
handle missing data and a variable number of feature points, and are robust to
noise and sparse outliers. We demonstrate our methods on both real and
synthetic sequences and show that they perform well in both online and batch
settings. We also provide an implementation which is able to produce 3D models
in real time using a laptop with a webcam.
