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Figure (2) demonstrates the sensor configuration on the vehicle.
Figure 3: (a) Azimuth (b) Velocity of the vehicle
Figure 4: top left: first and second images are overlaid in different colors; top right: the color coded optical flow LK+epipolar geometryconstraint; down left: warped image LK+epipolar geometry constraint; down right: warped image LK; a, b, c and d are 1, 50, 100 and 150frame numbers in the image sequence
Figure 5: KLT tracker aided by epipolar geometry constraint

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