Directed Method for Locating the Focus of Expansion

摘要

The problem of recovering the motion of a monocular observer relative to a rigid scene is discussed. No assumptions about the shapes of the surfaces in the scene, nor are estimates made of the optical flow or point correspondences. Instead, the spatial gradient and the time rate of change of brightness is exploited over the whole image and the constraint is explicitly imposed that the surface of an object in the scene must be in front of the camera for it to be imaged. Keywords: Focus of expansion; Optical flow; Motion field; Motion correspondence.