ACTS is an automatic camera tracking and depth recovery system which can efficiently and stably recover camera motion as well as dense depth maps and 3D scene structure from videos and film sequences. It is free for non-commercial research and educational use. If you use this executable for your academic publication, please acknowledge our work. This program is tested on Windows XP, Server 2003, Win7, but is still not guaranteed to be bug-free and work properly with all versions of Windows. You are welcome to report any suggestions or bugs. We will actively update the program. Please email Guofeng Zhang if you have any questions.

Structure-from-Motion is a cornerstone for many other computer vision tasks, such as 3D reconstruction, video-based rendering and video editing. In the future, we will actively update ACTS and add more and more advanced or extra functions along with our published papers.


  • Structure-from-Motion:
    • Guofeng Zhang, Xueying Qin, Wei Hua, Tien-Tsin Wong, Pheng-Ann Heng and Hujun Bao. Robust Metric Reconstruction from Challenging Video Sequences. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2007. [paper, video]
    • Guofeng Zhang, Zilong Dong, Jiaya Jia, Tien-Tsin Wong, and Hujun Bao. Efficient Non-Consecutive Feature Tracking for Structure-from-Motion. European Conference on Computer Vision (ECCV), 2010.[paper, video]
    • Guofeng Zhang, Haomin Liu, Zilong Dong, Jiaya Jia, Tien-Tsin Wong, and Hujun Bao. Efficient Non-Consecutive Feature Tracking for Robust Structure-from-Motion. IEEE Transactions on Image Processing, 25(12): 5957 – 5970, 2016.[pdf][arXiv report][video]
  • Dense Depth Recovery:
    • Guofeng Zhang, Jiaya Jia, Tien-Tsin Wong, and Hujun Bao. Consistent Depth Maps Recovery from a Video Sequence. IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 31(6):974-988, 2009.[paper, video, data]
    • Guofeng Zhang, Zilong Dong, Jiaya Jia, Liang Wan, Tien-Tsin Wong, and Hujun Bao. Refilming with Depth-Inferred Videos. IEEE Transactions on Visualization and Computer Graphics (TVCG), 15(5):828-840,2009. [paper, video]
  • Video Stabilization:
    • Guofeng Zhang, Wei Hua, Xueying Qin, Yuanlong Shao, and Hujun Bao. Video Stabilization Based on a 3D Perspective Camera Model. The Visual Computer, 25(11): 997-1008, 2009.


Development Team

  • Guofeng Zhang: developed the kernel, designed and maintain the system.
  • Hujun Bao: designed the system framework.
  • Zilong Dong: designed and implemented most of GUI, and also participated in implementing some auxiliary tools.
  • Qianling Li: re-implemented dense depth recovery module with GPU acceleration.
  • Yuanlong Shao: implemented timeline player.

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