Fast subspace algorithm for recovering rigid motion

Allan D. Jepson, David J. Heeger

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Workshop on Visual Motion
PublisherPubl by IEEE
Number of pages8
ISBN (Print)0818621532
StatePublished - 1991
EventProceedings of the IEEE Workshop on Visual Motion - Princeton, NJ, USA
Duration: Oct 7 1991Oct 9 1991

Publication series

NameProceedings of the IEEE Workshop on Visual Motion


OtherProceedings of the IEEE Workshop on Visual Motion
CityPrinceton, NJ, USA

ASJC Scopus subject areas

  • General Engineering


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