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The omni-directional camera has a full range in all directions, which gains the complete field of view. In the past, a moving object can be detected, only when the camera is static or moving with a known speed. In this paper, the authors assume an omni-directional camera is mounted on a moving platform, which travels with a planar motion. The region of floor in the omni-directional image and the brightness constraint equation are applied to estimate the ego-motion.
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