VEHICLE-TYPE MOTION ESTIMATION FROM MULTIFRAME IMAGES

A new model for vehicle-type motion, which assumes that the motion is a rotation around an axis through the vehicle center followed by a forward translation along the main axis of the vehicle, is proposed. The contribution of this paper is threefold: 1) When the rotation and the amplitude of translation are constant, this type of motion is shown to be equivalent to a constant camera-centered motion. This indicates that a constant motion in the conventional camera-centered model, which is commonly considered to be artificial, can in fact be a reasonable model in real life. 2) We show that a constant vehicle-type motion can be interpreted as a constant screw motion. 3) A linear algorithm for estimating constant vehicle-type motion is presented, and experiments using real scene images are included. As an extension, vehicle-type motion with constant rotation and constantly accelerated translation is also discussed.