Motion
•Optical flow problem definition
•Aperture problem and how it arises
•Assumptions
–Brightness constancy, small motion, smoothness
•Derivation of optical flow constraint equation
•Lukas-Kanade equation
–Derivation
–Conditions for solvability
–meanings of eigenvalues and eigenvectors
•Iterative refinement
–Newton’s method
–Coarse-to-fine flow estimation
•Feature tracking
–Harris feature detector
–L-K vs. discrete search method