Two different motion sequences included - 
1. Camera translating (2cm/frame) and rotating (5deg/frame) simultaneously. There are 4 videos. Two of them, SIFT_Trans.mpg and SIFT_Rot.mpg, show estimates of direction of translation and axis of rotation using SIFT matching as input. Another two, LK_Trans.mpg and LK_Rot.mpg show estimates using flow from iterative Lucas-Kanade in a multi-scale pyramid as input.

2. Camera undergoing purely translational motion (2cm/frame). Translation estimates shown in Pure_trans.mpg

Crosses are colour coded to mark the ground truth (yellow or black), estimates from our method (green) and estimates from 5 point with RANSAC (blue).


The Ladybug omnidirectional camera system consists of 5 cameras positioned in a ring about the horizontal plane, and 1 camera pointing vertically; 6 cameras in all. Only the 5 horizontal cameras were used for estimation of motion. However, for the rotation videos, we mark the axis of rotation in the top camera view although information from that camera was not used. The estimated directions of translation are marked in the frontal camera views in videos in the translation videos. However, the views from the other cameras on the Ladybug are provided for your reference. The cameras are labeled camera 1 (which is to the right of the frontal camera), camera 2 (which is right of camera 1) and so on, until camera 4 (which is right of camera 3 but left of frontal camera), which completes the ring of cameras.

