Abstract
A direct method is proposed for locating the focus of expansion,
based on simple parallel computations in selected regions of the image;
each is a circular patch around an estimated focus of expansion (FOE).
Simple computations allow determining the direction from the estimated
to the true 400FOE. The best estimate of the intersection of the
so-called FOE constraint lines for each region gives the location of the
FOE. Some analysis allows a confidence measure to be assigned to the
information from each local region, in order to give more weighting to
the most reliable data. Hence, the FOE can be located with more
accuracy, even when the data from various local regions lack sufficient
information
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