GitHub - cogsys-tuebingen/cslibs_image_align: This library contains an AVX optimized implementation of the efficient second order minimization and inverse compositional image alignment methods, including two methods for outlier rejection. 对ESM做了x86的AVX优化,x86平台常见的优化方式是SSE与AVX优化 Lucas–Kanade 追踪算法 - 知乎 还不错,有code. https://github.com/cashiwamochi/LK20_ImageAlignment/tree/master