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Direct Computation of the Focus of Expansion

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1 Author(s)
Ramesh Jain ; Intelligent Systems Laboratory, Department of Computer Science, Wayne State University, Detroit, MI 48202; Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI 48109.

Optical flow carries valuable information about the nature and depth of surfaces and the relative motion between observer and objects. In the extraction of this information, the focus of expansion plays a vital role. In contrast to the current approaches, this paper presents a method for the direct computation of the focus of expansion using an optimization approach. The optical flow can then be computed using the focus of expansion.

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:PAMI-5 ,  Issue: 1 )