Announcements

Motion Estimation

Why estimate motion?

Optical flow

Problem definition:  optical flow

Optical flow constraints (grayscale images)

Optical flow equation

Optical flow equation

Aperture problem

Aperture problem

Solving the aperture problem

Lukas-Kanade flow

Conditions for solvability

Eigenvectors of A^TA

Edge

Low texture region

High textured region

Observation

Errors in Lukas-Kanade

Improving accuracy

Iterative Refinement

Revisiting the small motion assumption

Reduce the resolution!

Coarse-to-fine optical flow estimation

Coarse-to-fine optical flow estimation

Optical flow result

Motion tracking

Feature Detection

Tracking features

Handling large motions

Tracking Over Many Frames

Incorporating Dynamics

Feature tracking demo

Image alignment

Summary