On computing a 'fuzzy' focus of expansion for autonomous navigation

@inproceedings{Burger1989OnCA,
  title={On computing a 'fuzzy' focus of expansion for autonomous navigation},
  author={W. Burger and B. Bhanu},
  booktitle={CVPR},
  year={1989}
}
The Focus of Expansion (FOE) is an important concept in dynamic scene analysis, particularly where translational motion is dominant, such as in mobile robot applications. In practice, it is difficult to determine the exact location of the FOE from a given set of displacement vectors due to the effects of camera rotation, digitization, and noise. Instead of a single image location, we propose to compute a connected region, termed 'Fuzzy' FOE, that marks the approximate direction of camera… CONTINUE READING