Rigid body motion from depth and optical flow

This work has shown that when coupled to the flow computations, the rigid body computations can resolve difficult singularities in the flow calculations.

Abstract

Motion is an important cue that facilitates the perception of rigid bodies. This perception can be viewed as finding the correct values for the nine parameters necessary to describe rigid body motion. These parameters are computable in parallel from depth and optical flow information. When coupled to the flow computations, the rigid body computations can resolve difficult singularities in the flow calculations.