A Caltech Library Service

Dynamic visual motion estimation from subspace constraints

Soatto, Stefano and Perona, Pietro (1994) Dynamic visual motion estimation from subspace constraints. In: ICIP'94: 1st International conference on image processing. IEEE Computer Society Press , Los Alamitos, CA, pp. 333-337. ISBN 0-8186-6952-7.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


The problem of estimating rigid motion from projections may be characterized using a nonlinear dynamical system, composed of the rigid motion constraint and the perspective map. The time derivative of the output of such a system, which is called the “motion field” and approximated by the “optical flow”, is bilinear in the motion parameters, and may be used to specify a subspace constraint on either the direction of translation or the inverse depth of the observed points. Estimating motion may then be formulated as an optimization task constrained on such a subspace [4]. We pose the optimization problem in a system theoretic framework as the the identification of a nonlinear implicit dynamical system with parameters on a differentiable manifold, and use techniques which pertain to nonlinear estimation and identification theory to perform the optimization task in a principled manner. The application of a general method presented in [12] results in a recursive and pseudo-optimal solution of the visual motion estimation problem, which has robustness properties far superior to other existing techniques we have implemented. Experiments on real and synthetic image sequences show very promising results in terms of robustness, accuracy and computational efficiency.

Item Type:Book Section
Related URLs:
Perona, Pietro0000-0002-7583-5809
Additional Information:© 1994 IEEE. Date of Current Version: 06 August 2002. Research funded by the California Institute of Technology, a scholarship from the University of Padova, a fellowship from the “A. Gini” Foundation, an AT&T Foundation Special Purpose grant, ONR grant N0014-93-1-0990, grant ASI-RS-103 from the Italian Space Agency and the NSF National Young Investigator Award (P.P.). This work is registered as CDS Technical Report CIT-CDS 94-006, California Institute of Technology, January 1994 - revised February 1994.
Funding AgencyGrant Number
University of PadovaUNSPECIFIED
A. Gini FoundationUNSPECIFIED
AT&T Foundation Special Purpose GrantUNSPECIFIED
Office of Naval Research (ONR)N0014-93-1-0990
Italian Space Agency (ASI)UNSPECIFIED
NSF Young Investigator AwardUNSPECIFIED
Other Numbering System:
Other Numbering System NameOther Numbering System ID
INSPEC Accession Number4997602
CDS Technical ReportCIT-CDS 94-006
Record Number:CaltechAUTHORS:20120306-134543401
Persistent URL:
Official Citation:Soatto, S.; Perona, P.; , "Dynamic visual motion estimation from subspace constraints," Image Processing, 1994. Proceedings. ICIP-94., IEEE International Conference , vol.1, no., pp.333-337 vol.1, 13-16 Nov 1994 doi: 10.1109/ICIP.1994.413330 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29598
Deposited By: Ruth Sustaita
Deposited On:13 Mar 2012 18:28
Last Modified:03 Oct 2019 03:42

Repository Staff Only: item control page