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Directions of Egomotion from Antipodal Points

Lim, John; Barnes, Nicholas


We present a novel geometrical constraint on the egomotion of a single, moving camera. Using a camera with a large field-of-view (FOV), the optical flow measured at a single pair of antipodal points on the image sphere constrains the set of all possible camera motion directions to a subset region. By considering the flow at many such antipodal point pairs, it is shown that the intersection of all subset regions arising from each pair yields an estimate on the directions of motion. These...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of CVPR 2008
DOI: 10.1109/CVPR.2008.4587497


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