# A Framework for Segmenting Moving Objects During Camera Motion Based on the OWL Function

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/cqcbx650whf2xhds7lfhun8od
- Original: https://arxiv.org/abs/2610.33789

## Summary

Researchers propose an analytical framework based on the OWL perception function for segmenting multiple independently moving rigid bodies during single-camera motion. OWL encodes perceived looming L and perceived rotation ω into a closed-form representation of relative 3D structure, from which the unit direction of relative translation can be analytically recovered per pixel from L and ω alone; points on the same non-rotating rigid body share the same direction, so clustering completes the segmentation. The method is derived in 3D using quaternions, is parallel and camera rotation-invariant, and requires no training data, depth information, or semantic priors.