Abstract—The paper studies new constraints that characterize a 3D–motion field as observed from the relative motion of a camera. Such constraints are derived from the relative change in size of observed local image regions over time. To consider the image distortions that arise in a projective camera, a modified affine shape adaptation scheme is proposed for the case of blob detection, with an emphasis on robustness under important viewpoint changes and changes in lighting conditions. The resulting features and constraints are used to characterize the motion of an ego-vehicle by means of their navigation angles. We present results on synthetic as well as on real-world image sequences. I
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