Transformation of optical flow by camera rotation

The effect of camera rotation on the description of optical flow generated by a planar surface in motion is treated. A transformation law for the parameters is given explicitly by analyzing infinitesimal generators and irreducibly reducing the induced representation of the 3-D rotation group SO(3). The parameter space is decomposed into invariant subspaces, and the optical flow resulting from planar surface motion is accordingly decomposed into two parts, from which an invariant basis is deduced. A procedure is presented to test the equivalence of two optical flows and to reconstruct the camera rotation. The relationship with the analytical expressions for 3-D recovery is discussed