The Focus of Expansion (FoE) sums up all the available in-formation on translational ego-motion for monocular systems. It has also been shown to present interesting features in cognitive research. As such, its localization bears great importance, either for robotic applications, as well as for attention fixation research. It will be shown that the socalled C-Velocity framework can be inversed in order to extract the FoE position from a rough scene structure estimation. This method rely on robust cumulative framework and only exploit the optical flow field relative norm as such, it is robust to angular noise and bias on the absolute optical flow norm.
Focus of Expansion Localization Through Inverse C-Velocity