Sanchez, Jorge A.Destefanis, EduardoKlette, ReinhardMorales, Sandino2009-02-262009-02-262008Multimedia Imaging Report 31 (2008)1178-5789http://hdl.handle.net/2292/3402You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original MI_tech website http://www.mi.auckland.ac.nz/index.php?option=com_content&view=article&id=91&Itemid=76 . All other rights are reserved by the author(s).The paper studies new constraints that characterize a 3D–motion field as observed from the relative motion of a camera. Such constraints are derived from the relative change in size of observed local image regions over time. To consider the image distortions that arise in a projective camera, a modified affine shape adaptation scheme is proposed for the case of blob detection, with an emphasis on robustness under important viewpoint changes and changes in lighting conditions. The resulting features and constraints are used to characterize the motion of an ego-vehicle by means of their navigation angles. We present results on synthetic as well as on real-world image sequences.Copyright Computer Science Department, The University of Auckland. You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original CITR web site under terms that include this permission. All other rights are reserved by the author(s).https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htmAffine Shape Adaptation of Blobs Moving in 3D SpaceTechnical ReportFields of Research::280000 Information, Computing and Communication Scienceshttp://purl.org/eprint/accessRights/OpenAccess