Approximation to the Fisher-Rao metric for the focus of expansion

  • Authors:

  • S. J. Maybank

  • Affiliations:

  • School of Computer Science and Information Systems, Birkbeck College, Malet Street, London WC1E 7HX, UK

  • Venue:
  • Neurocomputing
  • Year:
  • 2008

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Abstract

The Fisher-Rao metric for the focus of expansion is approximated, under the assumption that the focus is estimated from correspondences between two images taken by a translating camera. The approximation is accurate if the errors in the image correspondences are small. The parameter space for the focus of expansion is sampled at a finite set of points chosen such that every point in the space is near to at least one sample point. A focus of expansion is detected by checking each sample point in turn to see if it is supported by the image correspondences.