计算机视觉件11.pptVIP

Course 11 Optical Flow * * 1. Concept ----- Observe the scene by moving viewer. ----- Optical flow provides a clue to recover the motion. 2. Constraint equation of optical flow image observed from a scene at time t: at t+dt for the same scene: If image intensity change is small in time interval , we have: i.e. By chain rule of differentiation, Denote optical flow and image gradient we have: This equation is called constraint equation of optical flow. From a pair of images of a small time interval, fx, fy and ft can be calculated. However, u, v cannot be solved from only constraint equation of optical flow. This is called aperture problem. 3. Solve for optical flow Considering continuity constraint of optical flow: Using variation method, we get Let i.e. It yields that: Solve the equation, get: Since and need u and v and their neighbor pixels to calculate, we can use iterative method to solve them. 4. Understand optical flow 1) Focus of Expansion (FOE). When one does translational motion along a fixed direction, the world seems to be flowing out of one particular retinal point. This point is called focus of expansion (FOE). Remark: (1) FOE is a point in image plane. (2) FOE appears only for tranlational motion. Considering a 3D point at (x0, y0, z0) initially and observer is moving at velocity . After a time interval t, the 3D position of the point will be at (x0+wxt, y0+wyt, z0+wzt) and the image point is: * * * * * *