by Shahriar Negahdaripour
In Proceedings of IEEE Conference on Robotics and Automation
ftp://publications.ai.mit.edu/ai-publications/pdf/AIM-863.pdf
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Abstract:
Abstract: In this paper, we derive a closed form solution for recovering the motion of an observer relative to a planar surface directly from image brightness derivatives. We do not compute the optical flow as an intermediate step, only the spatiM and temporal intensity gradients at a minimum of 8 points. We solve a linear matrix equation for the elements of a 3x3 matrix. The eigenvalue decomposition of its symmetric part is then used to compute the motion parameters and the plane orientation.
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