Three-dimensional motion estimation by straight-line and endpoint optical flow

In this paper, we proposed a novel method for three-dimensional motion estimation by combining straight-line and endpoint optical flow. Firstly, the relationship equations of point and straight-line optical flow with the three-dimensional motion velocities are given under the perspective projection model. Then the three-dimensional motion estimation model based on the correspondence of point and straight-line optical flow is established according to the corresponding relationship of the point and straight-line. With the established model, the rotational and translational velocities of the moving object could be obtained only required detecting two straight-line optical flows and a point optical flow in the straight-line. Experimental results show the proposed method has highly estimated accuracy and wide range of application.