Computation of optical flow by matching edgels

A method for computing optical flow at intensity edges is presented and discussed. A relaxation algorithm is used, with neighbourhood support including the disparity gradient limit constraint. The flow vectors are decomposed into principal components, along which directions the errors are extrema. The algorithms described are used for the computation of optical flow in ISOR. ISOR is a set of programs designed by D.W. Murray, written to determine the identity, pose and motion of a geometric object from a sequence of images of the object in motion. The form of the constraint function is considered and a comparison of results obtained using different forms of the compatibility function is given, using both synthetic and real imagery