1
Estimation Using Flexible
Wireframe Model
Main Points
•
Model photometric effects
•
Simultaneously compute 3D motion and
adapt the wireframe model.
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2
Generalized Optical Flow
Constraint
dt
dN
L
f
v
f
u
f
t
y
x
.
r
=
+
+
dt
dN
L
dt
t
y
x
df
.
)
,
,
(
r
=
L
t
N
t
y
x
f
).
(
)
,
,
(
r
=
Lambertian Model
Albedo
Surface Normal
(-p,-q,1)
Lambertian Model
S=L, light
source
)
,
,
).(
,
,
(
.
)
,
(
z
y
x
z
y
x
l
l
l
n
n
n
L
n
y
x
f
=
=
)
,
,
)).(
1
,
,
(
1
1
(
.
)
,
(
2
2
z
y
x
l
l
l
q
p
q
p
L
n
y
x
f
-
-
+
+
=
=