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A Direct Method for Locating the Focus of Expansion
We address the problem of recovering the motion of a monocular observer relative to a rigid scene. We do not make any assumptions about the shapes of the surfaces in the scene, nor do we use estimates of the optical ...
Direct Passive Navigation
In this paper, we show how to recover the motion of an observer relative to a planar surface directly from image brightness derivatives. We do not compute the optical flow as an intermediate step. We derive a set of ...