The factorization method is an important method for recovering the geometric structure of a rigid object from image sequences. First

the conventional factorization method is introduced

as well as the analysis of its shortcomings. In order to avoid the invalidation

an improved factorization method is then proposed. Meanwhile

the complex process of solving the corrective matrix in a conventional way is avoided. The rotation matrix of each frame is directly corrected according to the property of a rotation matrix

which has been decomposed by the conventional method using singular value decomposition(SVD). Then

we calculate the structure matrix using linear least squares method

which directly combines the watching matrix with the solved rotation matrix. The experiments using synthetic and real images illustrate that the proposed method can recover the geometric structure from image streams very efficiently

and it also improves the stability

compared with the conventional method.