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Motion from fixation

Soatto, Stefano and Perona, Pietro (1996) Motion from fixation. In: 1996 IEEE computer society conference on computer vision and pattern recognition: proceedings. IEEE Computer Society , Los Alamitos, CA, pp. 817-824. ISBN 0-8186-7258-7

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We study the problem of estimating rigid motion from a sequence of monocular perspective images obtained by navigating around an object while fixating a particular feature point. We cast the problem in the framework of “epipolar geometry”, and propose a filter based upon implicit dynamical model for recursively estimating motion under the fixation constraint. This allows us to compare the quality of the estimates directly against the ones obtained assuming a general rigid motion simply by changing the geometry of the parameter space, while maintaining the same structure of the recursive estimator. We also present a closed-form static solution from two views, and a recursive estimator of the relative pose between the viewer and the scene.

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Additional Information:© 1996 IEEE. Date of Current Version: 06 August 2002. Research sponsored by NSF NYI Award, NSF ERC in Neuromorphic Systems Engineering, ONR grant N00014-93-1-0990.
Funding AgencyGrant Number
NSF ERC in Neuromorphic Systems EngineeringUNSPECIFIED
Office of Naval Research (ONR)N00014-93-1-0990
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INSPEC Accession Number5329360
Record Number:CaltechAUTHORS:20120131-140550430
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Official Citation:Soatto, S.; Perona, P.; , "Motion from fixation," Computer Vision and Pattern Recognition, 1996. Proceedings CVPR '96, 1996 IEEE Computer Society Conference on , vol., no., pp.817-824, 18-20 Jun 1996 doi: 10.1109/CVPR.1996.517166 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29050
Deposited By: Tony Diaz
Deposited On:08 Feb 2012 23:53
Last Modified:08 Feb 2012 23:54

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