Description  Claims  Drawing  Cited references 

US20190164296A   [0007] 

Spherical formulation of moving object geometric constraints for monocular fisheye cameras   [0002] 
coherent motion segmentation in moving camera videos using optical flow orientations   [0003] 
Unsupervised flow-based motion analysis for an autonomous moving system   [0004] 
Visual motion perception for mobile robots through dense optical flow fields   [0005] 
A motion descriptor based on statistics of optical flow orientations for action classification in video-surveillance   [0006] 
Two-frame motion estimation based on polynomial expansion   [0021] 
Spherical formulation of moving object geometric constraints for monocular fisheye cameras   [0029]