Lucas Kanade 算法
Lucas Kanade 算法
Lucas Kanade 算法
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1 Taylor expansion
() f(X) X=X
0
df
f ( X 0 + X ) f ( X 0 ) + X X =X0
dX
X n X=(x , x ,x ) df/dX
0 1 n
df df df
= , ,...
df
dX dx 0 dx1 dx n
f(X) m Jacobian
df 0 df 0
...
dx dxn
df 0
= ... ... ...
dX df m df m
dx ...
dxn
0
2
Chain rule
f t f t x,y ,f=f(x,y), x=x(t),y=y(t).
df/dt <,>
df f x f y f f x y
= + = , , ,
dt x t y t x y t t
L-K
p patch I(x) T(x)
E= [I (W ( X ; p)) T ( x)]
patch
2
6 3
4 2
x' x xp1 yp2 + p3
y ' = y + xp + yp + p
2 1 4
x xs cos sin + p3
= +
y x sin + ys cos + p4
2
p 8
E E
2
I
E = [I (W ( X ; p + p )) T ( x)] I (W ( X ; p )) +
2
p T ( x)
patch patch p
Ep = 0
p p + ( I (W ( X ; p)) T ( x)) = 0
I
patch
I / p chain rule
I
=
I W
p W p
W Wy
= I , x
p p
I W / p
W x / p x 0 y 0 1 0
W / p =
y 0 1
.
y 0 x 0
I / p 12 26 16 patch
I
p = T ( x) I (W ( X ; p ))
p
p 6 (affine ) I / p
( p )
N N 6
Jp = E
L-K
1 dP 6 N p
p=p+p
OpenCV
2
p 2dP T
Active Appearance Model warp
dP p (perturbation)CMU Cootes AAM
L-K Avatar
:
[1] Simon Baker and Iain Matthews. Lucas-Kanade 20 years on: A unifying framework.
http://www.sciencenet.cn/u/wanglin193/