Partial implementation of the fixation method on real images: direct recovery of motion and shape in the general case

A direct method called fixation is introduced for solving the general motion vision problem, arbitrary motion relative to an arbitrary rigid scene. This method results in a linear constraint equation which explicitly expresses rotational velocity in terms of translational velocity. By combining this constraint equation with the brightness-change constraint equation, general solutions are found for translational and rotational velocities, and the shape. Avoiding correspondence and optical flow has been the motivation behind this direct method, which uses the brightness gradients directly. Partial implementation of the fixation method on real images has shown encouraging results which support some of the presented algorithms