Direct Recovery of Motion and Shape in the General Case by Fixation

Abstract

This work introduces a direct method called FIXATION for solving the general motion vision problem. This Fixation method results in a constraint equation between translational and rotational velocities that in combination with the Brightness-Change Constraint Equation (BCCE) solves the general motion vision problem, arbitrary motion with respect to an arbitrary rigid environment. Neither Correspondence nor Optical Flow has been used here. Recently Direct Motion Vision methods have used the BCCE for solving the motion vision problem of special motions or environments. In contrast to those solutions, the Fixation method does not put such severe restrictions on the motion or the environment.