Introduction to tracking

1. Tracking Challenges

1. Many places it's hard to compute optical flow.
2. There can be large displacements since objects could be moving rapidly. Probably need to take dynamics into account.
3. Errors would compound - or drift.
4. Occlusions, disocclusions

2. Assumptions

Some fundamental assumptions to simplify our model and construct a mathematical framework for continuous motion. In essence, we'll be expecting small, gradual change in pose between the camera and the scene. Specifically:

• Objects do not spontaneously appear or disappear in different places in the scene.
• Camera does not move instantaneously to a new viewpoint, which would cause a massive perceived shift in scene dynamics.