金字塔LKT实现
问题描述
估计一个速度,找到对应的特征位置 v = u + d = [ u x + d x u y + d y ] T \mathbf{v}=\mathbf{u}+\mathbf{d}=\left[u_{x}+d_{x} \quad u_{y}+d_{y}\right]^{T} v=u+d=[ux+dxuy+dy]T。
ϵ ( d ) = ϵ ( d x , d y ) = ∑ x = u x − ω x u x + ω x ∑ y = u y − ω y u y + ω y ( I ( x , y ) − J ( x + d x , y + d y ) ) 2 (1) \epsilon(\mathbf{d})=\epsilon\left(d_{x}, d_{y}\right)=\sum_{x=u_{x}-\omega_{x}}^{u_{x}+\omega_{x}} \sum_{y=u_{y}-\omega_{y}}^{u_{y}+\omega_{y}}\left(I(x, y)-J\left(x+d_{x}, y+d_{y}\right)\right)^{2} \tag{1} ϵ(d)=ϵ(dx,dy)=x=ux−ωx∑ux+ωxy=uy−ωy∑uy+ωy(I(x,y)−J(x+dx,y+dy))2(1)</