3D camera pose

x =uv

11

1

P2

PF

2D correspondences

X=XYZ

Optical Flow: 2D point correspondences

Optical Flow: 2D point correspondences

Optical Flow: 2D point correspondences

d

When d=0

=-

E(d=0)

Three steps for solving this problem

Step 1: Solve for

Step 1: Solve for

Step 1: Solve for

= +

Step 2: Taylor expansion

+

Putting all together

2D unknowns flow vector per pixel2 equations

Also known as second moment matrix

2 × 2 matrix

Summing over pixels

2 × 1 matrix

Summing over pixels

Error

Error

Error

d=(-7.1, -8.8)

d=(-6.8, -8.9)

d=(-1.4, -3.0)

演示者

演示文稿备注

the difference between two images are too large, so I manually shift one image and try to recover the patch size is chosen so that we have a meaningful object in it

Error

d=(-4.9, -0.4)

Error

d=(-4.9, -0.4)

d=(-0.1, -5.8)

d=(0, -3.7)