Identification of Riccati dynamics under perspective and orthographic observations

The problem of identifying motion and shape parameters of a planar object undergoing a Riccati motion, from the associated optical flow generated on the image plane of a single CCD camera, is studied. The optical flow is generated by projecting feature points on the object onto the image plane via perspective and orthographic projections. An important result we show is that, under perspective projection, the parameters of a specific Riccati dynamics that extend the well-known "rigid motion" can be identified up to choice of a sign. The paper also discusses other Riccati equations obtained from quadratic extension of a rigid motion and affine motion. For each of the various motion models considered and for each of the two projection models, we show that the extent to which motion and shape parameters can be recovered from optical flow can in fact be recovered from the linear approximation of the optical flow. We also extend our analysis to a pair of cameras.