Highly accurate optic flow computation with theoretically justified warping

In this paper, we suggest a variational model for optic flow computation based on non-linearised and higher order constancy assumptions. Besides the common grey value constancy assumption, also gradient constancy, as well as the constancy of the Hessian and the Laplacian are proposed. Since the model strictly refrains from a linearisation of these assumptions, it is also capable to deal with large displacements. For the minimisation of the rather complex energy functional, we present an efficient numerical scheme employing two nested fixed point iterations. Following a coarse-to-fine strategy it turns out that there is a theoretical foundation of so-called warping techniques hitherto justified only on an experimental basis. Since our algorithm consists of the integration of various concepts, ranging from different constancy assumptions to numerical implementation issues, a detailed account of the effect of each of these concepts is included in the experimental section. The superior performance of the proposed method shows up by significantly smaller estimation errors when compared to previous techniques. Further experiments also confirm excellent robustness under noise and insensitivity to parameter variations.