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. 2015 Nov 19;11(11):e1004339. doi: 10.1371/journal.pcbi.1004339

Fig 1. Sketch of the algorithm from motion to CAD.

Fig 1

1) The motion of the agent consists of a series of translations in the null elevation plane. 2) Optic-flow fields along the trajectory contain FOEs and FOCs. 3) The time-integrated optic flow squared does not contain FOC and FOE. Inset is a 10× zoom at the mean motion direction of the agent. 4) Nearness map computed from time-integrated optic flow squared. 5) Nearness map averaged along the elevation. 6) Computation of the COMANV. Blue: representation of the vertically integrated nearness map in polar coordinates. Red: vectorial sum of the vertically integrated nearness vectors (COMANV). Green: vector directed opposite to the COMANV.