Egomotion and Relative Depth Map from Optical Flow. Prazdny, K Biological Cybernetics, 36:87–102, 1980.
bibtex   
@article{prazdny_egomotion_1980,
	title = {Egomotion and {Relative} {Depth} {Map} from {Optical} {Flow}.},
	volume = {36},
	journal = {Biological Cybernetics},
	author = {Prazdny, K},
	year = {1980},
	pages = {87--102},
}

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