1. Or where do the pixels move? Alon Gat

2. Given: two or more frames of an image sequence Wanted: Displacement field between two consecutive frames  optical flow Problem Definition

3. Vector Plot: Subsample vector field and use arrows for visualization Color Plot: Visualize direction as color and magnitude as brightness

4. Extraction of Motion Information  robot navigation/driver assistance  surveillance/tracking  action recognition Processing of Image Sequences  video compression  ego motion compensation Related Correspondence Problems  stereo reconstruction  structure-from-motion  medical image registration

5. How to estimate pixel motion from two images? –Find pixel correspondences Given a pixel in img1, look for nearby pixels of the same color in img2 Key assumptions –color constancy: a point in img1 looks “the same” in img2 For grayscale images, this is brightness constancy –small motion: points do not move very far

6. Assume brightness of patch remains same in both images: Optical Flow: the vector field Displacement: Brightness Constancy Assumption

7. The Linearized Brightness Constancy Assumption Brightness Constancy Assumption Idea: If u and v are small and I is sufficiently smooth, one may linearize this constancy assumption via a first-order Taylor expansion around the point Known Unknow n

9. Smoothness Constraint : meaning neighbor pixels in the picture has similar velocities. In other words, nearby pixels moves together

10. We seek the set that minimize: Smoothness term Data term brightness constancy data term - penalizes deviations from constancy assumptions smoothness term - penalizes dev. from smoothness of the solution regularization parameter α - determines the degree of smoothness Output – the optical flow!

11. Idea: In order to reduce the influence of noise and outliers, we convolve I 0 with a Gaussian of mean μ = 0 and standard deviation Gaussian

12. According to the calculus of variations, a minimizer of E must fulfill the Euler-Lagrange equations Which are highly non linear system of equations…  Euler-Lagrange equations

13. Or So we linearize again!

14. flow derivatives here discredited via linear system of equations

16. Update Rule:

21.  Hard to find boundaries.  Two approximations. Less accurate.

22.  Instead of approximating the brightness constancy to the 1 st Tylor expansion, we’ve add one order.  Second and more important, instead of solving E-L equations (which needed to be linearized) we wrote the Functional as n*m equations and minimized it with regular minimization methods (Gradient decent, Quasi Newton, and others)

23. Where P are the Image derivatives, and u, v is the optical flow Mathematica Symbolic Toolbox for MATLAB--Version 2.0 (http://library.wolfram.com/infocenter/MathSource/5344/)http://library.wolfram.com/infocenter/MathSource/5344/

24.  Quasi Newton Iteration The problem was that calculation time of inverse of non sparse matrix was long. And then multiplying two non sparse matrix…  Gradient Decent. Non of the above problems but linear convergence rate. And convergence to local min.

25.  In order to get things going faster (moving loooooooong string from matlab to mathematica takes awhile), we found the functional matrix’s constancy and calculate it in matlab. for i=2:imageSizeN-1 for j=2:imageSizeM-1 gradC(i,j)=gradC(i,j)+alpha*(2*(-c(i-1,j)+c(i,j))+2*(-c(i,j-1)+c(i,j))-2*alpha*(-c(i,j)+c(i,j+1)) - 2*alpha*(- c(i,j)+c(i+1,j))+4*exp((-1+c(i,j)^2+s(i,j)^2)^2)*c(i,j)*(-1+c(i,j)^2+s(i,j)^2) +2*(Ix(i,j)*m(i,j)+Ixz(i,j)*m(i,j)+2*Ixx(i,j)*c(i,j)*m(i,j)^2+Ixy(i,j)*m(i,j)^2*s(i,j))*(Iz(i,j)+Izz(i,j)+Ix(i,j)*c(i,j)*m(i,j)+Ix z(i,j)*c(i,j)*m(i,j)+Ixx(i,j)*c(i,j)^2*m(i,j)^2+Iy(i,j)*m(i,j)*s(i,j) +Iyz(i,j)*m(i,j)*s(i,j)+Ixy(i,j)*c(i,j)*m(i,j)^2*s(i,j)+Iyy(i,j)*m(i,j)^2*s(i,j)^2)); gradS(i,j)=gradS(i,j)+4*exp((-1+c(i,j)^2+s(i,j)^2)^2)*s(i,j)*(- 1+c(i,j)^2+s(i,j)^2)+2*(Iy(i,j)*m(i,j)+Iyz(i,j)*m(i,j)+Ixy(i,j)*c(i,j)*m(i,j)^2+2*Iyy(i,j)*m(i,j)^2*s(i,j))*(Iz(i,j)+Izz(i,j) +Ix(i,j)*c(i,j)*m(i,j)+Ixz(i,j)*c(i,j)*m(i,j)+Ixx(i,j)*c(i,j)^2*m(i,j)^2+Iy(i,j)*m(i,j)*s(i,j)+Iyz(i,j)*m(i,j)*s(i,j)+Ixy(i,j)*c(i,j)* m(i,j)^2*s(i,j)+Iyy(i,j)*m(i,j)^2*s(i,j)^2) +alpha*(2*(-s(i-1,j)+s(i,j))+2*(-s(i,j-1)+s(i,j))-2*alpha*(- s(i,j)+s(i,j+1))-2*alpha*(-s(i,j)+s(i+1,j))); gradM(i,j)=gradM(i,j)+beta*(2*(-m(i-1,j)+m(i,j))+2*(-m(i,j-1)+m(i,j)))-2*beta*(-m(i,j)+m(i,j+1))-2*beta*(- m(i,j)+m(i+1,j))+2*(Ix(i,j)*c(i,j)+Ixz(i,j)*c(i,j) +2*(Ixx(i,j)*c(i,j)^2*m(i,j)+Iy(i,j)*s(i,j)+Iyz(i,j)*s(i,j)+2*Ixy(i,j)*c(i,j)*m(i,j)*s(i,j)+2*Iyy(i,j)*m(i,j)*s(i,j)^2)*(Iz(i,j)+Izz( i,j)+Ix(i,j)*c(i,j)*m(i,j)+Ixz(i,j)*c(i,j)*m(i,j) +Ixx(i,j)*c(i,j)^2*m(i,j)^2+Iy(i,j)*m(i,j)*s(i,j)+Iyz(i,j)*m(i,j)*s(i,j)+Ixy(i,j)*c(i,j)*m(i,j)^2*s(i,j)+Iyy(i,j)*m(i,j)^2*s(i,j)^2 )); end

28.  All methods need couple of unknown parameters which need to be selected by an educated guess. (Condor to the rescue)  All the image derivatives and gradients are calculated in a linear manner.

29. Takes about 45min (highend algorithms take around 20sec…)

30. The Ground Truth.