Two-stage robust optical flow estimation

We formulate optical flow estimation as a two-stage re-gression problem. Based on characteristics of these two regression models and conclusions on modern regression methods, we choose a Least Trimmed Squares followed by weighted Least Squares estimator to solve the optical flow constraint (OFC); and at places where this one-stage robust method fails due to poor derivative quality, we use a Least Trimmed Squares estimator to robustify the facet model fit-ting. This two-stage robust scheme produces significantly higher accuracy than non-robust algorithms and those only using robust methods at the OFC stage. On the synthetic data, the one-stage robust method has an average error of 7:7 % against 24 % of Black’s and 19 % of the pure LS method; and the two-stage robust method further reduces the error by half near motion boundaries. Advantages are also demonstrated on real data. 1