Direct Passive Navigation: Analytical Solution for Planes

Abstract

This paper derives a closed form sloution for recovering the motion of an observer relative to a planar surface directly from image brightness gradients. The optical flow is not computed as an intermediate step, only the spatial and temporal intensity gradients at a minimum of eight points. A linear matrix equation is solved for the elements of a 3x3 matrix. The eigenvalue decomposition of its symmetric part is then used to compute the motion parameters and the plane orientation. Keywords Passive navigation; Optical flor; Structure and motion; Planar surfaces; Least squares method.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1985
Accession Number
ADA161046

Entities

People

  • Shahriar Negahdaripour

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Brightness
  • Cartesian Coordinates
  • Computer Vision
  • Coordinate Systems
  • Decomposition
  • Eigenvalues
  • Eigenvectors
  • Equations
  • Flow
  • Flow Fields
  • Intensity
  • Military Research
  • Navigation
  • Observers
  • Orientation (Direction)

Fields of Study

  • Physics

Readers

  • Computer Vision.
  • Control Systems Engineering.