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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)
Error
d=(-4.9, -0.4)
Error
d=(-4.9, -0.4)
d=(-0.1, -5.8)
d=(0, -3.7)