On Kineopsis and Computation of Structure and Motion
Amar Mitiche · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1986
This correspondence deals with the computation of structure and motion of rigid objects in space from image positions and optical flow. A test for rigid motion of objects in space is introduced which yields a new formulation of the problem. Assuming a central projection model for the viewing system, it is shown that image positions and optical flow at four points can achieve this perception.