Recovery of rigid structure from orthographically projected optical flow

Abstract Retinal velocity field generated by orthographic projection of a moving rigid object is studied. It is shown that, given a velocity field at one moment, the possible interpretation of motion and structure admits three degrees of freedom; two of them are due to freedom in choice of the position and the velocity of the object in the view direction, and the other is due to freedom in choice of thickness of the object. Explicit formulas are also obtained for representing the set of all possible interpretations. It is, furthermore, shown that the third degree of freedom, the freedom as to object thickness, can be removed if retinal position and velocities of three points at two moments are available.

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