A direct method for locating the focus of expansion

Shahriar Negahdaripour, Berthold K.P. Horn

Research output: Contribution to journalArticlepeer-review

37 Scopus citations


We address the problem of recovering the motion of a monocular observer relative to a rigid scene. We do not make any assumptions about the shapes of the surfaces in the scene, nor do we use estimates of the optical flow or point correspondences. Instead, we exploit the spatial gradient and the time rate of change of brightness over the whole image and explicitly impose the constraint that the surface of an object in the scene must be in front of the camera for it to be imaged.

Original languageEnglish (US)
Pages (from-to)303-326
Number of pages24
JournalComputer Vision, Graphics and Image Processing
Issue number3
StatePublished - Jun 1989
Externally publishedYes

ASJC Scopus subject areas

  • Environmental Science(all)
  • Engineering(all)
  • Earth and Planetary Sciences(all)


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