We introduce new small-motion multi-frame
equations applicable to the reconstruction of dynamic scenes
in which points are allowed to move along straight-line paths with constant
velocity. The motion equations apply to both static and dynamic points,
thus prior segmentation is not necessary. We present a reconstruction algorithm
of camera motion, scene structure, and point
trajectories embedded into a multi-frame factorization principle which requires the minimum of 11 images and 7 points (out of which at least 3 are dynamic).