Fast subspace algorithm for recovering rigid motion

The image motion field for an observer moving through a static environment depends on the observer's translational and rotational velocities along with the distances to surface points. Given such a motion field as input we present a new algorithm for computing the observer's motion and the depth structure of the scene. The approach is a further development of subspace methods. This class of methods involve splitting the equations describing the motion field into separate equations for the observer's translational direction, the rotational velocity, and the relative depths. The resulting equations can then be solved successively, beginning with the equations for the translational direction. Here we show how this first step can be simplified considerably. The consequence is that the observer's velocity and the relative depths to points in the scene can all be recovered by successively solving three linear problems.