| Description: |
KLT is an implementation, in the C programming language, of a
feature tracker for the computer vision community. The source
code is in the public domain, available for both commercial and
non-commercial use.
The tracker is based on the early work of Lucas and Kanade,
was developed fully by Tomasi and Kanade, and was explained clearly
in the paper by Shi and Tomasi. Later, Tomasi proposed a slight
modification which makes the computation symmetric with respect
to the two images -- the resulting equation is derived in the
unpublished note by myself. Briefly, good features are located
by examining the minimum eigenvalue of each 2 by 2 gradient
matrix, and features are tracked using a Newton-Raphson method of
minimizing the difference between the two windows. Multi-resolution
tracking allows for relatively large displacements between images.
The affine computation that evaluates the consistency of features
between non-consecutive frames was implemented by Thorsten
Thormaehlen several years after the original code and documentation
were written. |
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