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Using collinear points to compute egomotion and detect nonrigidity
da Vitoria Lobo, N. Tsotsos, J.K.
Dept. of Comput. Sci., Toronto Univ., Ont.;

This paper appears in: Computer Vision and Pattern Recognition, 1991. Proceedings CVPR '91., IEEE Computer Society Conference on
Publication Date: 3-6 Jun 1991
On page(s): 344-350
Meeting Date: 06/03/1991 - 06/06/1991
Location: Maui, HI, USA
ISBN: 0-8186-2148-6
References Cited: 32
INSPEC Accession Number: 4127717
Digital Object Identifier: 10.1109/CVPR.1991.139713
Current Version Published: 2002-08-06

Abstract
A novel approach to computing egomotion and detecting points not moving rigidly with the scene when an observer moves with unrestricted motion is presented. The approach, using collinear image points, is based on an exact method for cancelling effects of the observer's rotation from optic flow. For each point only the component of velocity normal to the direction of the line joining the collinear points is needed. The algorithm is simple, appears robust, and is ideal for parallel implementation

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