  We present a processing technique for a robust reconstruction of motion
properties for single points in large scale, dynamic environments. We assume
that the acquisition camera is moving and that there are other independently
moving agents in a large environment, like road scenarios. The separation of
direction and magnitude of the reconstructed motion allows for robust
reconstruction of the dynamic state of the objects in situations, where
conventional binocular systems fail due to a small signal (disparity) from the
images due to a constant detection error, and where structure from motion
approaches fail due to unobserved motion of other agents between the camera
frames.
  We present the mathematical framework and the sensitivity analysis for the
resulting system.
