caa a22 4500 46903629X CHVBK 20180323132757.0 cr unu---uuuuu 170328e19920101xx s 000 0 eng 10.1007/BF00128130 doi (NATIONALLICENCE)springer-10.1007/BF00128130 Subspace methods for recovering rigid motion I: Algorithm and implementation [Elektronische Daten] [David Heeger, Allan Jepson] As an observer moves and explores the environment, the visual stimulation in his/her eye is constantly changing. Somehow he/she is able to perceive the spatial layout of the scene, and to discern his/her movement through space. Computational vision researchers have been trying to solve this problem for a number of years with only limited success. It is a difficult problem to solve because the optical flow field is nonlinearly related to the 3D motion and depth parameters. Here, we show that the nonlinear equation describing the optical flow field can be split by an exact algebraic manipulation to form three sets of equations. The first set relates the flow field to only the translational component of 3D motion. Thus, depth and rotation need not be known or estimated prior to solving for translation. Once the translation has been recovered, the second set of equations can be used to solve for rotation. Finally, depth can be estimated with the third set of equations, given the recovered translation and rotation. The algorithm applies to the general case of arbitrary motion with respect to an arbitrary scene. It is simple to compute, and it is plausible biologically. The results reported in this article demonstrate the potential of our new approach, and show that it performs favorably when compared with two other well-known algorithms. Kluwer Academic Publishers, 1992 Heeger David NASA-Ames Research Center, mail stop 262-2, 94035, Moffett Field, CA aut Jepson Allan Computer Science Department, University of Toronto, M5S 1A4, Toronto, Ontario aut International Journal of Computer Vision Kluwer Academic Publishers 7/2(1992-01-01), 95-117 0920-5691 7:2<95 1992 7 11263 https://doi.org/10.1007/BF00128130 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00128130 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Heeger David NASA-Ames Research Center, mail stop 262-2, 94035, Moffett Field, CA aut NATIONALLICENCE 700 1- Jepson Allan Computer Science Department, University of Toronto, M5S 1A4, Toronto, Ontario aut NATIONALLICENCE 773 0- International Journal of Computer Vision Kluwer Academic Publishers 7/2(1992-01-01), 95-117 0920-5691 7:2<95 1992 7 11263 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer