opti和cal flow.pptVIP

Optical Flow Outline Description of optical flow General techniques Specific methods Horn and Schunck (regularization) Lucas and Kanade (least squares) Anandan (correlation) Fleet and Jepson (phase) Performance results Optical Flow Motion field – projection of 3-D velocity field onto image plane Optical flow – estimation of motion field Causes for discrepancy: aperture problem: locally degenerate texture single motion assumption temporal aliasing: low frame rate, large motion spatial aliasing: camera sensor image noise Brightness Constancy Image intensity is roughly constant over short intervals: Taylor series expansion: Optical flow constraint equation: (a.k.a. BCCE: brightness constancy constraint equation) (a.k.a. image brightness constancy equation)(a.k.a. intensity flow equation) Brightness Constancy Aperture Problem One equation in two unknowns = a line of solutions Aperture Problem In degenerate local regions, only the normal velocity is measurable. Aperture Problem Normal Flow General Techniques Multiconstraint Hierarchical Multiple motions Temporal refinement Confidence measures General Techniques Multiconstraint over-constrained system of linear equations for the velocity at a single image point least squares, total least squares solutions Hierarchical coarse to fine help deal with large motions, sampling problems image warping helps registration at diff. scales Multiple Motions Typically caused by occlusion Motion discontinuity violates smoothness, differentiability assumptions Approaches line processes to model motion discontinuities “oriented smoothness” constraint mixed velocity distributions Temporal Refinement Benefits: accuracy improved by temporal integration efficient incremental update methods ability to adapt to discontinuous optical flow Approaches: temporal continuity to predict velocities Kalman filter to reduce uncertainty of estimates low-pass recursive filters Confidence Measures Determine unreliable velocity estimates Yield sparser veloc