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Using Constraint Lines for Estimating Egomotion

This paper considers the problem of estimating egomotion using visual input, which constitutes a fundamental problem in visual motion analysis. Many of the existing techniques for solving this problem rely on restrictive assumptions regarding the observer’s motion or even the scene structure. In this work, a novel method for egomotion estimation is proposed. The method relies on the observation that optical flow vectors at pairs of points lying on lines through the FOE, exhibit particular geometric properties. Such lines containing the FOE are identified using a robust criterion and the FOE is then located at their point of intersection. The method requires simple computations and employs linear models. Simulations employing synthetic velocity fields as well as experiments with real image sequences demonstrate the performance of the proposed method under varying noise levels and camera motions.