Abstract: A method based on rank 4 is presented for occlusion recovery.Firstly,all the occlusions and depth factors are assumed known to obtain a rank 4 matrix that is used to construct a projective matrix.Then,all the occlusions and depth factors are obtained from the projective matrix.At the same time,the old occlusions and depth factors are substituted with the obtained ones to get a new projective matrix.After several iterations,the real values of the occlusions and depth factors can be found.The innovative point of the algorithm is that all the images and image points are treated uniformly.The experiments with both simulation and real data show that the method has such advantages as strong robustness,good convergence performance and small errors.