A direct method for locating the focus of expansion

Shahriar Negahdaripour; Berthold K.P. Horn

doi:10.1016/0734-189X(89)90035-2

A direct method for locating the focus of expansion

Shahriar Negahdaripour, Berthold K.P. Horn

Research output: Contribution to journal › Article

35 Scopus citations

Abstract

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 language	English (US)
Pages (from-to)	303-326
Number of pages	24
Journal	Computer Vision, Graphics and Image Processing
Volume	46
Issue number	3
DOIs	https://doi.org/10.1016/0734-189X(89)90035-2
State	Published - Jun 1989
Externally published	Yes

ASJC Scopus subject areas

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

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Negahdaripour, S., & Horn, B. K. P. (1989). A direct method for locating the focus of expansion. Computer Vision, Graphics and Image Processing, 46(3), 303-326. https://doi.org/10.1016/0734-189X(89)90035-2

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