10. Motion Estimation................................................... 64
10.1: Di\ufb00erential Motion
10.2: Di\ufb00erential Stereo
This wonderful branch of mathematics is both beautiful and use- ful. It is the cornerstone upon which signal and image processing is built. This short chapter can not be a comprehensive survey of linear algebra; it is meant only as a brief introduction and re- view. The ideas and presentation order are modeled after Strang\u2019s highly recommended Linear Algebra and its Applications.
There are at least two ways in which we can think of solving these equations forx andy. The \ufb01rst is to consider each equation as describing a line, with the solution being at the intersection of the lines: in this case the point (2, 3), Figure 0.1. This solution is termed a \u201crow\u201d solution because the equations are considered in isolation of one another. This is in contrast to a \u201ccolumn\u201d solution in which the equations are rewritten invector form:
The solution reduces to \ufb01nding values forx andy thatscale the vectors (2, 1) and (\u22121, 1) so that theirsum is equal to the vector (1, 5), Figure 0.2. Of course the solution is againx = 2 andy = 3.
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