The estimation of the 3-D displacement of a moving camera relative to a scone is critical for applications in robotics as well as object-based video compression. By estimating the relative motion within a scene, one can accurately predict object positions for the future, thereby reducing the amount of information which must be coded. This problem has an inherently nonlinear nature and can therefore be computationally expensive. However, several related linear methods which use optical flow to recover the translation direction of a moving camera have been previously presented.
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