13 October 1994 Visual fixation invariant
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Abstract
This paper deals with a visual-motion fixation invariant. We show that during fixation there is a measurable nonlinear function of optical flow that produces the same value for all points of a stationary environment regardless of the 3-D shape of the environment. During fixated camera motion relative to a rigid object, e.g., a stationary environment, the projection of the fixated point remains (by definition) at the same location in the image, and all other points located on the 3-D rigid object can only rotate relative to the 3-D fixation point. This rotation rate of the points is invariant for all points that lie on the particular environment, and it is measurable from a sequence of images. This new invariant is obtained from a set of monocular images, and is expressed explicitly as a closed form solution. In this paper we show how to extract this invariant analytically from a sequence of images using optical flow information, and we present results obtained from real data experiments.
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Daniel Raviv, Nissim Ozery, "Visual fixation invariant", Proc. SPIE 2354, Intelligent Robots and Computer Vision XIII: 3D Vision, Product Inspection, and Active Vision, (13 October 1994); doi: 10.1117/12.189075; https://doi.org/10.1117/12.189075
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