Unbiased estimation of camera translation direction from optical flow using linear constraints

A linear method for recovering the translation direction of a moving camera using optical flow has been previously developed. This method initially produced a biased estimate and the original authors proposed a dithering technique for eliminating this bias. An alternative explanation of and method for removing the bias are presented, together with the results of an error analysis of both methods. Sample numerical simulations are used to compare the different techniques.<
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