A simplified linear optic flow-motion algorithm

This paper establishes the relationship between rigid body motion and the optic flow image and solve motion parameters from optic flow image points. A basic equation is established relating optic flow image points to rigid body motion which involves only the instantaneous rotation and translocation velocities without depths. A linear algorithm is developed to determine the mode of motion, the instantaneous rotation velocity, the direction of the instantaneous translation velocity, and the relative depth map, under the rank assumption. -after Authors