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<p><b>Abstract</b>—A noniterative method using optical flow to recover the translation direction of a moving camera has been previously proposed in [<ref rid="bibi09274" type="bib">4</ref>]. We present a detailed explanation of the bias in this algorithm and compare methods for eliminating this bias, as well as presenting a comprehensive error analysis. This analysis includes a necessary modification to the Cramér-Rao lower bound (CRLB). We propose a simple iterative modification to the algorithm which produces unbiased translation direction estimates that approach the CRLB. Numerical results are used to compare the various techniques on synthetic and real image sequences.</p>
Translation direction estimation, linear constraints, optical flow, error analysis, performance comparison.

A. M. Earnshaw and S. D. Blostein, "The Performance of Camera Translation Direction Estimators From Optical Flow: Analysis, Comparison, and Theoretical Limits," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 18, no. , pp. 927-932, 1996.
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