1 Motion Estimation

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monocular vision 单眼视觉

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2 cases:

• optical flow is zero although there is motion in the scene
• optical flow is non-zero but there is no motion in the scene

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In removing noise from a sequence, we are interested in using both the spatial neighbourhood of a pixel in a frame, as well as the temporal neighbourhood. In this case, we want to filter along the motion trajectory

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motion based segmentation of the objects

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直接重复前一帧(zero-order hold)的object会产生 jagged motion
duplicate frame t1 into frame t
this is straightforward way to generate missing frame, however, it can generate jagged motion, because during going from t1 to t2, the person has considerably moved

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更平滑的approach是用motion compensation, find the motion between this block at frame t1 and t2

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temporal filtering denoise就是利用加性噪声时间平均减弱的原理, 加上motion estimation, 对于object block进行平均减弱加性噪声
the general idea is that i want to be able to find the motion and then perform a type of filtering, spacial temporal filtering along the motion trajectories

2 Block Matching

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block matching的四个前提假设
① no change int the ambient light, 环境光没有明显改变
② objects are rigid, 刚性运动
③ objects are translated in the 3D world on a plane parallel to the image place, 物体在画面上运动没有明显的大小变化, 运动是在一个平面(和成像平面平行)完成的
④ no objects appear or left the scene, 没有物体出画入画

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  exausting search, 就是穷尽所有可能

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  将search region限定在一定区域内

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  进一步减少比较的次数, 就是空间二分

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  用下采样的方式减少计算量, 每四个pixel只用其中的一个pixel计算error

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  另外一种减少计算量的方法, 不计算单个block的error, 而是计算16个方向上(x方向8个, y方向8个)的error, 在这个slide中, 原本要计算64个error, 现在只用计算16个, 具体的算法和应用场景具体用到的时候再去看一下

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  大尺度的motion estimation结果怎么与小尺度的motion estimation结果联合起来用, 就是motion estimation x2之后要怎么和当前这个尺度计算出来的motion estimation结合起来得到一个motion estimation的输出. serves as initial condition for the estimation of the highest levle??? 这个是什么意思, initial condition具体怎么用?
  这种尺度金字塔的方式经常被使用, 能够明显 improve ME

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  half-pel interpolation, 这是让motion vector方向更精细的意思吗(half-pel accurate motion vector)?

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  不同的searching方法效果的比较, 这里motion vector是只有大小没有方向吗?

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  BM的demo软件