Reconstructing 3D rotation motion parameters from 2D image straight-line optical flow

This paper defines the derivative to the three parameters of 2D line which is the perspective projection of 3D line in motioning object as the straight-line optical flow.A new simple algorithm of reconstructing 3D rotation motion from 2D image straight-line optical flow is presented.The algorithm is to only use three couple of straight-line optical flow in two consecutive image frames of image sequence to get the 3D rotation motion parameters by solving the linear equations,at the same time,the focus of camera can be obtained.It needs no iteration and iterative initial value and requires less 2D straight-line optical flow,therefore,the algorithm is easier to be realized.