Focus of Expansion Localization through Inverse C-Velocity

  • Adrien Bak
  • Samia Bouchafa
  • Didier Aubert
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6978)


The Focus of Expansion (FoE) sums up all the available information on translational ego-motion for monocular systems. It has also been shown to present interesting features in cognitive research. As such, its localization bears great importance, either for robotic applications, as well as for attention fixation research. It will be shown that the so-called C-Velocity framework can be inversed in order to extract the FoE position from a rough scene structure estimation. This method rely on robust cumulative framework and only exploit the optical flow field relative norm as such, it is robust to angular noise and bias on the absolute optical flow norm.


Optical Flow Expansion Localization Building Plane Scene Structure Road Plane 
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 Berlin Heidelberg 2011

Authors and Affiliations

  • Adrien Bak
    • 1
  • Samia Bouchafa
    • 1
  • Didier Aubert
    • 2
  1. 1.Institut d’Electronique Fondamentale, Université Paris-SudOrsayFrance
  2. 2.IFSTTARParisFrance

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