Direct Passive Navigation

@article{Negahdaripour1987DirectPN,
  title={Direct Passive Navigation},
  author={Shahriar Negahdaripour and Berthold K. P. Horn},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={1987},
  volume={PAMI-9},
  pages={168-176}
}
In this correspondence, we show how to recover the motion of an observer relative to a planar surface from image brightness derivatives. We do not compute the optical flow as an intermediate step, only the spatial and temporal brightness gradients (at a minimum of eight points). We first present two iterative schemes for solving nine nonlinear equations in terms of the motion and surface parameters that are derived from a least-squares fomulation. An initial pass over the relevant image region… CONTINUE READING
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References

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Direct passive navigation

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