Lucas and Kanade Weighted least squares Fixed velocity in a small neighborhood Minimizing 2W(x)/VI(x, t)V+I, (x,t)] →AW2Ay=Aw2b 4=VI(x)…,VI(xn)2 w=diag[W(x1),.w(xr)Lucas and Kanade • Weighted least squares • Fixed velocity in a small neighborhood   2 2 ( ) ( , ) ( , ) W I t I t t     + x Minimizing x x v x