klt

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which makes the computation symmetric with respect to the two images -- the resulting equation is derived in the unpublished note by myself.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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