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Lucas-Kanade 20 Years On: A Unifying Framework
Open accessAbstract
Since the Lucas-Kanade algorithm was proposed in 1981 image alignment has become one of the most widely used techniques in computer vision. Applications range from optical flow and tracking to layered motion, mosaic construction, and face coding. Numerous algorithms have been proposed and a wide variety of extensions have been made to the original formulation. We present an overview of image alignment, describing most of the algorithms and their extensions in a consistent framework. We concentrate on the inverse compositional algorithm, an efficient algorithm that we recently proposed. We examine which of the extensions to Lucas-Kanade can be used with the inverse compositional algorithm without any significant loss of efficiency, and which cannot. In this paper, Part 1 in a series of papers, we cover the quantity approximated, the warp update rule, and the gradient descent approximation. In future papers, we will cover the choice of the error function, how to allow linear appearance variation, and how to impose priors on the parameters.
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Wu, Y., Lim, J., & Yang, M.-H. (2013) · 2013 IEEE Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2013.312 · Cited by 4,138
MonoSLAM: Real-time single camera SLAM
Davison, A. J., Reid, I. D., Molton, N. D., & Stasse, O. (2007) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1049 · Cited by 3,959
Wu, Y., Lim, J., & Yang, M.-H. (2015) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2014.2388226 · Cited by 3,371
A Database and Evaluation Methodology for Optical Flow
Baker, S., Scharstein, D., Lewis, J. P., Roth, S., Black, M. J., & Szeliski, R. (2011) · International Journal of Computer Vision · doi:10.1007/s11263-010-0390-2 · Cited by 2,205
“The simplest gradient descent algorithm is steepest descent [5], which takes steps in the direction of the negative gradient −Global ∂f .”
BackgroundMethodSelf-citationSVO: Fast semi-direct monocular visual odometry
Forster, C., Pizzoli, M., & Scaramuzza, D. (2014) · 2014 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2014.6906584 · Cited by 2,205
Metadata
- Authors
- Baker, S., & Matthews, I.
- Venue
- International Journal of Computer Vision
- Published
- 2004-02
- Volume
- 56
- Issue
- 3
- Pages
- 221-255
- ISSN
- 0920-5691 (ISSN-L)
- 1573-1405
- OpenAlex
- W2035379092
- Cited by
- 3,155
- References
- 1
- FWCI
- 101.90
- Type
- journal article
- Language
- en
- Open access
- green
- Licence
- www.springernature.com/gp/researchers/text-and-data-mining (tdm)
- www.springernature.com/gp/researchers/text-and-data-mining (vor)
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