Egomotion

The goal of estimating the egomotion of a camera is to determine the 3D motion of that camera within the environment using a sequence of images taken by the camera.

6D-Vision helps to resolve the issue: from a few stationary 3D points one can determine the complete motion state of the vehicle (rotation and translation) precisely.

A lot current works assume that the scenes they are interested in are mostly rigid, i.e., the scene appearance change across different frames is dominated by the camera motion.