Fast structure from motion recovery applied to 3D image stabilization

In this paper, we address 3D image stabilization using a framework for the estimation of scene structure from a monocular motion field. We show that our algorithm rapidly and accurately determines the focus of expansion (FOE) in an optical flow field. This involves computing the least squares error of a large system of equations without actually solving the equations, to generate an error surface that describes the goodness of fit as a function of the hypothesized FOE. Consequently, we recover the rotational motion which we use to perform 3D image stabilization