Abstract
The paper deals with a visual-motion fixation invariant. We show
that during fixation there is a measurable nonlinear function of optical
flow that produces the same value for all points of a stationary
environment, regardless of the 3D shape of the environment. During
fixated camera motion relative to a rigid object, e.g., a stationary
environment, the projection of the fixated point remains (by definition)
at the same location in the image, and all other points located on the
3D rigid object can only rotate relative to the 3D fixation point. This
rotation rate of the points is invariant for all points that lie on the
particular environment, and it is measurable from a sequence of images.
This new invariant is obtained from a set of monocular images, and is
expressed explicitly as a closed form solution. We show how to extract
this invariant analytically from a sequence of images using optical flow
information, and we present results obtained from real data experiments
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