Robust modified L2 local optical flow estimation and feature tracking

This paper describes a robust method for the local optical flow estimation and the KLT feature tracking performed on the GPU. Therefore we present an estimator based on the L² norm with robust characteristics. In order to increase the robustness at discontinuities we propose a strategy to adapt the used region size. The GPU implementation of our approach achieves real-time (>;25 fps) performance for High Definition (HD) video sequences while tracking several thousands of points. The benefit of the suggested enhancement is illustrated on the Middlebury optical flow benchmark.