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Optical flow is the distribution of apparent velocities of movement of bright-
ness patterns in an image. Optical flow can arise from relative motion of
objects and the viewer [6, 71. Consequently. optical flow can give important
information about the spatial arrangement of the objects viewed and the rate
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of change of this arrangement [8]. Discontinuities in the optical flow can help in
i
segmenting images into regions that correspond to different objects [27]. I Attempts have been made to perform such segmentation using differences between successive image frames [15, 16, 17,20, 251. Several papers address the
problem of recovering the motions of objects relative to the viewer from the
optical flow [lo, 18, 19, 21, 291. Some recent papers provide a clear exposition
of this enterprise [30, 311. The mathematics can be made rather difficult, by the
way, by choosing an inconvenient coordinate system. In some cases in-
formation about the shape of an object may also be recovered [3, 18, 191.
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