On the information in optical flows

This paper outlines the structure of optical flows and their relation to relative depth, local surface orientation, relative motion, and the source of optokinetic information, the retinal velocities. Some possibilities and limitations of optical flows as a source of information about the three-dimensional environment are also discussed. It is found that optical flows cannot directly specify egomotion or relative motion of objects with respect to the observer, and that the relative depth and local surface orientation is unambiguously contained in optical flows.

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