Conditions for solvability
•Optimal (u, v) satisfies
Lucas-Kanade equation
When is this solvable?
•ATA should be invertible
•ATA entries should not be too
small (noise)
•ATA should be
well-conditioned
– l1/ l2 should not be too
large (l1 = larger
eigenvalue)
–Closely related to the Harris
operator…
