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* * * * * /wiki/Invertible_matrix * Suppose M = vv^T . What are the eigenvectors and eigenvalues? Start by considering Mv * * * * * * * * * * * * * * * * * Iterative refinement: Estimate velocity at each pixel using one iteration of Lucas and Kanade estimation Warp one image toward the other using the estimated flow field Refine estimate by repeating the process Implementation issues Window size Small window more sensitive to noise and may miss larger motions (without pyramid) Large window more likely to cross an occlusion boundary (and it’s slower) 15x15 to 31x31 seems typical Weighting the window Common to apply weights so that center matters more (e.g., with Gaussian) Vector field function of the spatio-temporal image brightness variations Optical flow Motion and perceptual organization Sometimes, motion is the only cue Motion and perceptual organization Even “impoverished” motion data can evoke a strong percept G. Johansson, “Visual Perception of Biological Motion and a Model For Its Analysis, Perception and Psychophysics 14, 201-211, 1973. Motion and perceptual organization Even “impoverished” motion data can evoke a strong percept G. Johansson, “Visual Perception of Biological Motion and a Model For Its Analysis, Perception and Psychophysics 14, 201-211, 1973. Uses of motion Estimating 3D structure Segmenting objects based on motion cues Learning and tracking dynamical models Recognizing events and activities Improving video quality (motion stabilization) Motion field The motion field is the projection of the 3D scene motion into the image What would the motion field of a non-rotating ball moving towards the camera look like? Optical flow Definition: optical flow is the apparent motion of brightness patterns in the image Ideally, optical flow would be the same as the motion field Have to be careful: apparent motion can be caused by lighting changes without any actual motion Think of a uniform rotating sphere under fixed lighting vs. a stationary sphere