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DR. J. Shanbehzadeh Shanbehzadeh@gmail Sara Omid

Machine Vision. Lecture 06 Computing Optical Flow. DR. J. Shanbehzadeh Shanbehzadeh@gmail.com Sara Omid. Science and Research Branch of Azad University. Table of Contents. Optical Flow Examples. Optical Flow Examples. Optical Flow Examples Optical Flow Horn & Schunck Optical Flow

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DR. J. Shanbehzadeh Shanbehzadeh@gmail Sara Omid

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  1. Machine Vision Lecture 06 Computing Optical Flow DR. J. Shanbehzadeh Shanbehzadeh@gmail.com Sara Omid Science and Research Branch of Azad University

  2. Table of Contents

  3. Optical Flow Examples

  4. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  5. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  6. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  7. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  8. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  9. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  10. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  11. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  12. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  13. Optical Flow Examples • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  14. Optical Flow

  15. Optical Flow • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments Applications • Motion based segmentation • Structure from Motion(3D shape and Motion) • Alignment (Global motion compensation) • Camcorder video stabilization • UAV Video Analysis • Video Compression

  16. Horn & Schunck

  17. Horn & Schunck Optical Flow • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments Brightness constancy assumption Taylor Series

  18. Interpretation Of Optical Flow eq • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments d = normal flow P = parallel flow

  19. Horn & Schunck • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments Brightness Constancy Smoothness Constraint min

  20. Horn & Schunck • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments = = Laplacian

  21. Derivative Masks • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments fy fx ft

  22. Derivative Masks (Roberts) • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments Apply first mask to 1st image Second mask to 2nd image Add the responses to get fx, fy, ft

  23. Laplacian • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  24. Laplacian • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments Discrete version

  25. Laplacian • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments variational calculus

  26. Algorithm-1 • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments • k=0 • Initialize ukand vk • Repeat until some error measure is satisfied (converges)

  27. Synthetic Images • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  28. Horn & Schunck Results • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  29. Lucas & Kanade

  30. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments • Optical Flow eq • Consider 3 by 3 window • . . . A u = ft

  31. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments A U = ft AT A U = AT ft U = (ATA)-1 AT ft Pseudo Inverse Least Squares Fit

  32. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  33. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  34. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  35. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  36. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  37. Lucas & Kanade • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments

  38. Comments

  39. Comments • Optical Flow Examples • Optical Flow • Horn & Schunck Optical Flow • Interpretation Of Optical Flow eq • Horn & Schunck • Derivative Masks • Laplacian • Algorithm-1 • Synthetic Images • Horn & Schunck Results • Lucas & Kanade • Comments • Horn‐Schunck and Lucas‐Kanadeoptical methods work only for small motion. • If object moves faster, the brightness changes rapidly, • 2x2 or 3x3 masks fail to estimate spatiotemporal derivatives. • Pyramids can be used to compute large optical flow vectors.

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