Egomotion analysis based on the Frenet-Serret motion model

A new model, Frenet-Serret motion, is proposed for the motion of an observer in a stationary environment. This model relates the motion parameters of the observer to the curvature and torsion of the path along which the observer moves. Screw-motion equations for Frenet-Serret motion are derived and employed for geometrical analysis of the motion. Normal flow is used to derive constraints on the rotational and translational velocity of the observer and to compute egomotion by intersecting these constraints in the manner proposed by Z. Duric/spl acute/ and Y. Aloimonos (1989). The accuracy of egomotion estimation is analyzed for different combinations of observer motion and feature distance. The authors explain the advantages of controlling feature distance to analyze egomotion and derive the constraints on depth which make either rotation or translation dominant in the perceived normal flow field. The results of experiments on real image sequences are presented.