Analysis of optical flow constraints.

Different constraint equations have been proposed in the literature for the derivation of optical flow. Despite of the large number of papers dealing with computational techniques to estimate optical flow, only a few authors have investigated conditions under which these constraints exactly model the velocity field, that is, the perspective projection on the image plane of the true 3-D velocity. These conditions are analyzed under different hypotheses, and the departures of the constraint equations in modeling the velocity field are derived for different motion conditions. Experiments are also presented giving measures of these departures and of the induced errors in the estimation of the velocity field.