Egomotion analysis based on the Frenet-Serret motion model (original) (raw)

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Egomotion analysis based on the Frenet-Serret motion model

2002

Zoran DuricZoran Duric

Abstract

... i FOC i ---~ , TI V NAOR -£2 V ... The two singular points (the AOR and the NAOR) at which the optical flow is zero correspond to the points where ~ and -fi pierce the image egosphere. as a singular point of type L If cos 0 = 0 (0 = zr/2) we have the angle Pc ~00 = arccos -- (10) p ...

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