BMVC91 pp 169-177 | Cite as

Recursive Updating of Planar Motion

  • D. W. Murray
  • D. M. Pickup
Conference paper


This paper presents a recursive algorithm to recover the 3D structure and motion of a planar facet moving with arbitrary but constant motion relative to a single camera. By integrating discrete measurements of visual motion over time, the algorithm imposes a coupling between the scene structure and rotational motion otherwise absent in instantaneous motion processing. The algorithm disambiguates between the two possible values of the rotational motion which arise from instantaneous processing, and shows considerable robustness to noise and small camera angles.


Optical Flow Planar Surface Visual Motion Instantaneous Processing Planar Facet 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London Limited 1991

Authors and Affiliations

  • D. W. Murray
    • 1
  • D. M. Pickup
    • 1
  1. 1.Robotics Research Group Department of Engineering ScienceUniversity of OxfordOxfordUK

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