Egomotion estimation on a topological space

We present an egomotion estimation method for a monocular observer moving with arbitrary motion. The method is uniquely based on the normal flow field and the estimation problem is defined in a particular topological space-the /spl Lscr/-space-to allow the use of global data for the final estimates. Additionally, robust statistics methods are used for motion model selection, and provide improved robustness to image noise and data outliers.