1 首先看wiki中的optical flow, 网址 http://en.wikipedia.org/wiki/Optical_flow
关键信息摘取:
The optical flow methods try to calculate the motion between two image frames which are taken at times t and t + δt at every voxel position. These methods are called differential since they are based on local Taylor series approximations of the image signal; that is, they use partial derivatives with respect to the spatial and temporal coordinates.意思大概为: 光流方法是计算相邻两帧(时间为t,t+dt)中的每一个点的运动。计算光流的方法是基于微分,因为是基于泰勒级数展开求得的,即 利用像素点时间和空间坐标的偏微分。
For a 2D+t dimensional case (3D or n-D cases are similar) a voxel at location (x,y,t) with intensity I(x,y,t) will have moved by δx, δy and δt between the two image frames, and the following image constraint equation can be given:
- I(x,y,t) = I(x + δx,y + δy,t + δt)
- (比较懒,就不翻译了。。。。。。)
最终得到公式
2. 再次 看wiki中的Lucas–Kanade method, 网址: http://en.wikipedia.org/wiki/Lucas%E2%80%93Kanade_method
该部分有详细的推到,涉及到矩阵的一些概念。其中 有超定方程怎样就求。
有一个矩阵的定理对理解有帮助: 对于方程组Ra=y,R为n×m矩阵,如果R列满秩,且n>m。则方程组没有精确解,此时称方程组为超定方程组。
超定方程一般是不存在解的矛盾方程。
定理: 当RT·R可逆时,以上超定方程组存在最小二乘解,且即方程组 RT·R·a=RT·y
的解为:
a=(RT·R)-1·RT·y