This article examines the performance of two methods, Intersection Of Constraints (IOC) and Harmonic Vector Average (HVA), for combining velocity measurements into a smaller number of estimates of the cohesive velocity.  The performance is measured over varying sample sizes, and there is some discussion of alternative heuristics.

 

Abstract

Download the full projectVision_files/CHarrison_CP3-Vision.pdf

An illustration of the harmonic vector average method for estimating global motion.