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We present a processing technique for a robust reconstruction of motionproperties for single points in large scale, dynamic environments. We assumethat the acquisition camera is moving and that there are other independentlymoving agents in a large environment, like road scenarios. The separation ofdirection and magnitude of the reconstructed motion allows for robustreconstruction of the dynamic state of the objects in situations, whereconventional binocular systems fail due to a small signal (disparity) from theimages due to a constant detection error, and where structure from motionapproaches fail due to unobserved motion of other agents between the cameraframes.  We present the mathematical framework and the sensitivity analysis for theresulting system.

Monocular Navigation in Large Scale Dynamic Environments