Direct Passive Navigation: Analytical Solution for Planes
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 spatial and temporal intensity gradients at a minimum of 8 poin...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6431 |
| Summary: | 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 spatial 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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