Estimation of camera planar motion from blurred images

The topic of the paper is to estimate parameters of the camera motion using images taken at initial and current positions of the camera. An original method handling defocused images or images blurred in other ways is proposed. The method is based on registering the images by means of detected control points (CP) and so-called combined invariants. These features are invariant both to rigid-body transform and to blurring caused by convolution with an arbitrary centrosymmetric point-spread function (PSF). Thanks to this, the camera position can be estimated directly from defocused images without any deblurring.