optical flow: 2d point correspondencescis580/spring2016/lectures/coursera-18... · optical flow: 2d...
TRANSCRIPT
3D camera pose
x =uv
11
1
P2
PF
2D correspondences
X=XYZ
Optical Flow: 2D point correspondences
Optical Flow: 2D point correspondences
Optical Flow: 2D point correspondences
d
When d=0
=-
E(d=0)
Three steps for solving this problem
Step 1: Solve for
Step 1: Solve for
Step 1: Solve for
= +
Step 2: Taylor expansion
+
Putting all together
2D unknowns flow vector per pixel2 equations
Also known as second moment matrix
2 × 2 matrix
Summing over pixels
2 × 1 matrix
Summing over pixels
Error
Error
Error
d=(-7.1, -8.8)
d=(-6.8, -8.9)
d=(-1.4, -3.0)
演示者
演示文稿备注
the difference between two images are too large, so I manually shift one image and try to recover the patch size is chosen so that we have a meaningful object in it
Error
d=(-4.9, -0.4)
演示者
演示文稿备注
t = 11
Error
d=(-4.9, -0.4)
d=(-0.1, -5.8)
d=(0, -3.7)
演示者
演示文稿备注
t = 0, 11, 41, 61