Local translational decomposition under rigid body motion
Warren F. Gardner, Daryl T. Lawton · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1993
In previous work we introduced a description of image motion called the local translational decomposition (LTD). This representation associates with image features or small image areas, a 3D unit vector describes the direction of motion of the corresponding environmental feature of small surface area. The LTD representation was shown to considerably simplify the inference of motion parameters for ego-motion. This paper exploits the rigidity constraint in order to determine the relative depth between LTD vectors. Using the rigidity constraint, along with a local surface planarity assumption, an improved LTD estimation algorithm is constructed. The effectiveness of this algorithm is demonstrated by applying it to the problem of reconstructing 3D environmental surfaces.