Daryl T. Lawton
We deal with the inference of environmental information (position and velocity) from a sequence of images formed during relative motion of an observer and the environment. A simple method is used to transform relations between environmental points into equations expressed in terms of constants determined from the images and unknown depth values. This is used to develop equations for environmental inference from several cases of rigid body motion, some having direct solutions. Also considered are the problems of non-unique solutions and the necessity of decomposing the inferred motion into natural components.