目录 Joint Tracking of Features and Edges Joint Tracking of Features and Edges 1. LK光流 基本LK光流运动假设: \[ I(x+u,y+v,t+1) = I(x,y,t) \] 一阶近似得到: \[ f(u,v,I) = I_xu+I_yv+I_t =0 \] 由于Aperture problem,需要假设领域像素运动相同,并作为约束,便可以求解 \[ E_{LK}(u,v) = K_{\rho}*(f(u,v;I)…