Egomotion from global flow field data

The author presents two independent, global algorithms to compute the motion parameters. The flow circulation algorithm fits a linear surface to the curl of the flow field. The parameters of this linear surface are proportional to the angular velocity components. The author shows that instead of the curl values one can use circulation values that are simply contour integrals of the flow field on the image plane. The FOE (focus of expansion) location algorithm computes a certain circular components of the flow field that is a quadratic polynomial only when the correct FOE is used in the computation of the circular component. The author uses this observation to provide a method to determine the location of the FOE. Experimental results are presented.<
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