Closing the loop
Problem
•requires
good tracked features as input
Can we use SFM to help track points?
•basic idea: recall form of Lucas-Kanade equation:
•with n points in f
frames, we can stack into a big matrix
Matrix
on RHS has rank <= 3 !!
•use
SVD to compute a rank 3 approximation
•has
effect of filtering optical flow values to be consistent
•[Irani
99]