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Optical flow computation for moving sensors

  • US 5,257,209 A
  • Filed: 08/10/1992
  • Issued: 10/26/1993
  • Est. Priority Date: 06/26/1990
  • Status: Expired due to Term
First Claim
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1. A method for determining motion of an object viewed with a moving imaging system having a camera, comprising the steps of:

  • obtaining a first image of a first scene including the object;

    obtaining a second image of a second scene including said object, said second image being separated by a predetermined time interval from said first image, the motion of said object corresponding to apparent optical flow parameters and true optical flow parameters, and the camera of said moving imaging system having camera motion values;

    expressing the apparent optical flow parameters as equations having said true optical flow parameters with coefficients in terms of said camera motion values and of said predetermined time interval;

    determining said camera motion values from rotational and translational velocities of said camera and from the geometry of a projection to said image;

    solving said equations for said true optical flow parameters; and

    using said true optical flow parameters to determine said motion of an object.

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