Abstract
The motion of a camera relative to a planar surface induces a second-order motion field in the image. It has been shown that the eight independent coefficients of the resulting motion field can be used to recover the three- dimensional motion of the camera and the orientation of the planar patch in closed form up to a two-fold ambiguity. It is shown here that given the motion field up to the first-order terms for two planar patches in the scene, the three-dimensional motion of the camera, as well as the orientation of the two planes, can be recovered in closed form. In two special cases the orientation of the planes cannot be recovered. In such cases, the traditional one-plane methods can be used. (I.E.)