Conditions for solvability
•Optimal (u, v) satisfies
Lucas-Kanade equation
When
is This Solvable?
•ATA should be
invertible
•ATA should not
be too small due to noise
–eigenvalues
l1 and l2 of ATA should not be too small
•ATA should be
well-conditioned
– l1/ l2 should not be too large (l1 = larger eigenvalue)
