(Also cross-refernced as CAR-TR-732)

Image displacement fieldsoptical flow fields, stereo disparity

fields, normal flow fieldsdue to rigid motion possess a global geometric structure which is independent of the scene in view. Motion vectors of certain lengths and directions are constraine d to lie on the imaging surface at particular loci whose location and form depends solely on the 3D motion parameters. If optical flow fields or stereo disparity fields are considered, then equal vectors are shown to lie on conic sections. Similarly, for normal motion fields, equal vectors lie within regions whose boundaries also constitute conics. By studying various properties of these curves and regions and their relationships, a characterization of the structure of rigid motion fields is given. The go al of this paper is to introduce a concept underlying the global structure of image displacement fields. This concept gives rise to various constraints that could form the basis of algorithms for the recovery of visual information from multiple views.