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