A closed form solution to segment 3D motion using straight-line optical flow

A closed form solution to the problem of segmenting multiple 3D motion models was proposed from straight-line optical flow. It introduced the multibody line optical flow constraint (MLOFC), a polynomial equation relating motion models and line parameters. The motion models can be obtained analytically as the derivative of the MLOFC at the corresponding line measurement, without knowing the motion model associated with that line. Experiments on real and synthetic sequences were also presented. Foundation item: The National Natural Science Foundation of China (No. 60675017); The National Basic Research Program (973) of China (No. 2006CB303103)