9 January 1998 Robust estimation of FOE (focus of expansion) from unreliable motion flows
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Abstract
We present a recursive estimation technique for recovering FOE from unreliable motion or optical flow. The estimation of FOE is of importance to the analysis of camera motion, especially in the case that the camera motion is purely translational. Our work is based on the observation that there is strong dependence between FOE estimation and motion flows. Therefore, as the FOE depends on the motion flow, a good motion flow can be obtained from accurate FOE. We assume that the camera motion is purely translational and there is no object motion in the scene. The technique used for the elimination of unreliable motion flow is orthogonal regression method. We combine FOE estimation with the elimination algorithm of unreliable motion flows. Experiments using both simulation and real scenes show that our proposed method works robustly under the condition that the percentage of outliers is varying.
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Mun-Sup Song, Man-Bae Kim, "Robust estimation of FOE (focus of expansion) from unreliable motion flows", Proc. SPIE 3309, Visual Communications and Image Processing '98, (9 January 1998); doi: 10.1117/12.298359; https://doi.org/10.1117/12.298359
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