The Tomasi–Kanade factorization is the seminal work by Carlo Tomasi and Takeo Kanade in the early 1990s.
[1] It charted out an elegant and simple solution based on a SVD-based factorization scheme for analysing image measurements of a rigid object captured from different views using a weak perspective camera model.
After tracking the points throughout all the images composing the temporal sequence, a set of trajectories is available.
As mentioned earlier, the central premise behind the factorization approach is that a measurement matrix P is rank limited.
The essence of factorization method is computing The optimal r-rank approximation of P with respect to the Frobenius norm can be found out using a SVD-based scheme.