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klt - An implementation of the Kanade-Lucas-Tomasi feature tracker
- 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-- the resulting equation is derived in the unpublished note by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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