Fast motion estimation using second order gradient methods

Gradient based motion estimation techniques (GM) are considered to be in the heart of state-of-the-art registration algorithms, being able to account for both pixel and subpixel registration and to handle various motion models (translation, rotation, a¢ne, projective). These methods estimate the motion between two images using a ...rst order Taylor expansion of the registered images. This paper o¤ers two main contributions: First, we improve the convergence rate and range of the GM using a formulation based on a second order Taylor expansion. Second, we extend the second order algorithm using a symmetrical formulation which further improves the convergence properties. The results are veri...ed by theoretical analysis and experimental trials.