Experiments in Rotational Egomotion Calculation

The motion of an observer relative to a fixed environment can be determined from a sequence of successive perspective images. The method is based on constraints between the motion parameters, the image intensities, and the shape of the body in view. A method is developed for experimentally verifying the algorithm using synthetic input for the case of rotational motion. Technical problems arise in the representation of continuous mathematics in the discrete domain of a computer system. The effects of some of these difficulties are examined analytically and experimentally