从光流场计算刚体运动参数

Estimating Motion Parameters from Optical flow Field

本文研究了从单帧图象光流场恢复观察者相对于周围环境运动参数的计算问题，证明了分别至少需要两个光流点才能唯一地确定纯平移和纯旋转的平移方向和旋转参数。而至少需要八个光流点才能唯一地决定一般运动的平移方向和旋转参数。与已有算法相比，本文的算法简单且易于理解。本文同时分析了平移方向和旋转参数的几何意义，提出了一种利用光流点判别观察者运动形式的简单方法。

It is very important to calculate the motion parameters of a rigid body from its perspective projection in computer vision. In this paper, the optical flow motion equations are established. It is proved that two optical flow points are needed for calculating the direction of pure trnalational motion or the parameters of pure rotational motion uniquely,and eight optical flow points are needed at least for determimimg the parameters of general motion uniquely. The method in this paper is the most simple.