TY - JOUR
T1 - A direct method for locating the focus of expansion
AU - Negahdaripour, Shahriar
AU - Horn, Berthold K.P.
N1 - Funding Information:
The first author would like to thank Roy E. Shaw, Gordon T. Sasamori, and Sean Richardson for performing the experiments with real images and preparing the output images. This paper describes research done at the MIT Artificial Intelligence Laboratory and the Waikiki Surfing and Computer Vision Society of the Department of Electrical Engineering at the University of Hawaii. Support for the computer vision research at the MIT Artificial Intelligence Laboratory is provided in part by the National Science Foundation under Grant DMC85-11966 and in part by the Defense Advanced Research Projects Agency under the Office of Naval Research Contract NfKKt14-75-C-0643. Support for the research at the Waikiki Surfing and Computer Vision Society is provided by the Pacific International Center for High Technology Research.
PY - 1989/6
Y1 - 1989/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0024471116&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0024471116&partnerID=8YFLogxK
U2 - 10.1016/0734-189X(89)90035-2
DO - 10.1016/0734-189X(89)90035-2
M3 - Article
AN - SCOPUS:0024471116
VL - 46
SP - 303
EP - 326
JO - Computer Vision, Graphics, and Image Processing
JF - Computer Vision, Graphics, and Image Processing
SN - 0734-189X
IS - 3
ER -