Simple iterative method for finding the foe using depth-is-positive constraint

This short paper reexamines a direct-methods algorithm suggested by Negahdahripour and Horn[5]that finds the focus of expansion (FOE) from translational motion imagery. We propose an practical extension of the algorithm characterize it specifically for a VLSI implementation discuss when it will converge to the correct solution and demonstrate it on real images (both synthetic and natural). The method does not require a solution to the correspondence problem or involve estimation of optical flow.