Abstract

The motion of an imaging device relative to the environment can, theoretically, be determined from the spatiotemporal intensity changes induced on the image plane of the device. We present a noniterative method for computing the six parameters of egomotion (three translatory and three rotational) from this visual input. The scheme is initially tested in a ray-traced environment to show proof of concept and to explore factors that influence its performance. We then demonstrate its performance on a multilobed camera, which is moved by arbitrary amounts in space. We also discuss and describe some practical implementations.

© 1997 Optical Society of America

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