Camera is in relative motion to a single rigid body located at

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Camera is in relative motion to a single rigid
body located at P(Xo,Yo,Zo) at translational
velocity V (Vx,Vy,Vz) and rotational velocity
W(Wx,Wy,Wz). Therefore rigid body is at
translational velocity -V and rotational velocity
-W in camera coordinate system. The total
instantaneous relative velocity of the rigid body
is -(V WxP).
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OPTIC FLOW FROM REGULARIZATION(Calculus of
Variations Approach)

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