LK Optical Flow Algorithm Source Code

This document presents the source code implementation of the Lucas-Kanade (LK) optical flow algorithm in its single-layer, non-pyramidal form. The LK optical flow algorithm calculates object motion in image sequences by analyzing brightness constancy assumptions through partial derivatives computation. This implementation features key algorithmic components including gradient calculation using Sobel operators, Hessian matrix construction for spatial coherence, and iterative optimization for motion vector estimation. For developers seeking deeper understanding, we reference fundamental texts such as "Computer Vision: Algorithms and Applications" for implementation techniques and "Introduction to Robotics" for motion analysis applications. This resource aims to facilitate practical understanding of optical flow computation for computer vision and robotics applications, with particular focus on the matrix inversion optimization and convergence criteria handling in the core algorithm.