Corresponding image points of a rigid object in a discrete sequence of
images fulfil the so-called multilinear constraint. In this paper the
continuous time analogue of this constraint, for a continuous stream
of images, is introduced and studied. The constraint links the Taylor
series expansion of the motion of the image points with the Taylor ser
ies expansion of the relative motion and orientation between the objec
t and the camera. The analysis is done both for calibrated and uncalib
rated cameras. Two simplifications are also presented for the uncalibr
ated camera case. One simplification is made using an affine reduction
and the so-called kinetic depths. The second simplification is based
upon a projective reduction with respect to the image of a planar conf
iguration. The analysis shows that the constraint involving second-ord
er derivatives are needed to determine camera motion. Experiments with
real and simulated data are also presented.