Drottning Kristinas v gen, 47D 3D Motion Estimation with Active and Space-Variant Systems by Dr. Konstantinos Daniilidi , Kiel Cognitive Systems Group.
Fixation is defined as holding the gaze direction towards the same environmental point through time.
It was proven in the past that fixation reduces the number of unknowns in passive visual navigation from five to four. Here it is shown that fixation further simplifies 3D-motion estimation because it decouples the motion parameter space. We project the spherical motion field in two latitudinal directions with respect to two different poles of the image sphere. Two computational steps based on one-dimensional searches yield the focus of expansion. The observer may move with all six degrees of freedom.