Grouping iso-velocity points for ego-motion recovery

摘要: The instantaneous image motion field due to a camera moving through static environment encodes information about ego-motion and environmental layout. For pure translational motion, the has unique point termed focus of expansion/contraction where. velocity vanishes. We reveal fact that for an arbitrary 3D zero-velocity points, whose number can be large, have regularity being approximately cocircular. More generally, all points with same u are located on circle (termed isovelocity (IVC)) determined solely by ego-motion, except pathological cases in which degenerates into straight line. While IVCs recovered from 3 or more pairs iso-velocity using linear method, estimating reduces. solving systems equations constraining (Yang 1992).