Voting method for planarity and motion detection

The recognition of planar shapes in an important problem in computer vision and many methods have been proposed for the analysis of planar motion and spatial motion. For the analysis of motion we must first determine whether the motion is planar or spatial. Here we propose a voting method for planarity detection and planar motion estimation. This algorithm does not require any pre-prepared database. Further, a numerical analysis implies that our algorithm is stable against numerical and digitalization errors.

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