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class="vector-toc-numb">2</span> <span>Algorithms</span> </div> </a> <button aria-controls="toc-Algorithms-sublist" class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-toc-toggle"> <span class="vector-icon mw-ui-icon-wikimedia-expand"></span> <span>Toggle Algorithms subsection</span> </button> <ul id="toc-Algorithms-sublist" class="vector-toc-list"> <li id="toc-Direct_methods" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Direct_methods"> <div class="vector-toc-text"> <span class="vector-toc-numb">2.1</span> <span>Direct methods</span> </div> </a> <ul id="toc-Direct_methods-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Indirect_methods" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Indirect_methods"> <div class="vector-toc-text"> <span class="vector-toc-numb">2.2</span> <span>Indirect methods</span> </div> </a> <ul id="toc-Indirect_methods-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Additional_note_on_the_categorization" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Additional_note_on_the_categorization"> <div class="vector-toc-text"> <span class="vector-toc-numb">2.3</span> <span>Additional note on the categorization</span> </div> </a> <ul id="toc-Additional_note_on_the_categorization-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Affine_motion_estimation" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Affine_motion_estimation"> <div class="vector-toc-text"> <span class="vector-toc-numb">3</span> <span>Affine motion estimation</span> </div> </a> <ul id="toc-Affine_motion_estimation-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Applications" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Applications"> <div class="vector-toc-text"> <span 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</ul> </li> </ul> </li> <li id="toc-See_also" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#See_also"> <div class="vector-toc-text"> <span class="vector-toc-numb">5</span> <span>See also</span> </div> </a> <ul id="toc-See_also-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-References" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#References"> <div class="vector-toc-text"> <span class="vector-toc-numb">6</span> <span>References</span> </div> </a> <ul id="toc-References-sublist" class="vector-toc-list"> </ul> </li> </ul> </div> </div> </nav> </div> </div> <div class="mw-content-container"> <main id="content" class="mw-body"> <header class="mw-body-header vector-page-titlebar"> <nav aria-label="Contents" class="vector-toc-landmark"> <div id="vector-page-titlebar-toc" class="vector-dropdown vector-page-titlebar-toc vector-button-flush-left" > 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video coding/compression</div> <figure typeof="mw:File/Thumb"><a href="/wiki/File:Elephantsdream_vectorstill06.png" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/c/c2/Elephantsdream_vectorstill06.png/350px-Elephantsdream_vectorstill06.png" decoding="async" width="350" height="197" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/c/c2/Elephantsdream_vectorstill06.png/525px-Elephantsdream_vectorstill06.png 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/c/c2/Elephantsdream_vectorstill06.png/700px-Elephantsdream_vectorstill06.png 2x" data-file-width="1920" data-file-height="1080" /></a><figcaption>Motion vectors that result from a movement into the <span class="mwe-math-element"><span class="mwe-math-mathml-inline mwe-math-mathml-a11y" style="display: none;"><math xmlns="http://www.w3.org/1998/Math/MathML" alttext="{\displaystyle z}"> <semantics> <mrow class="MJX-TeXAtom-ORD"> <mstyle displaystyle="true" scriptlevel="0"> <mi>z</mi> </mstyle> </mrow> <annotation encoding="application/x-tex">{\displaystyle z}</annotation> </semantics> </math></span><img src="https://wikimedia.org/api/rest_v1/media/math/render/svg/bf368e72c009decd9b6686ee84a375632e11de98" class="mwe-math-fallback-image-inline mw-invert skin-invert" aria-hidden="true" style="vertical-align: -0.338ex; width:1.088ex; height:1.676ex;" alt="{\displaystyle z}"></span>-plane of the image, combined with a lateral movement to the lower-right. This is a visualization of the motion estimation performed in order to compress an MPEG movie.</figcaption></figure> <p>In <a href="/wiki/Computer_vision" title="Computer vision">computer vision</a> and <a href="/wiki/Image_processing" class="mw-redirect" title="Image processing">image processing</a>, <b>motion estimation</b> is the process of determining <i>motion vectors</i> that describe the transformation from one 2D image to another; usually from adjacent <a href="/wiki/Video_frame" class="mw-redirect" title="Video frame">frames</a> in a video sequence. It is an <a href="/wiki/Well-posed_problem" title="Well-posed problem">ill-posed problem</a> as the <a href="/wiki/Motion" title="Motion">motion</a> happens in three dimensions (3D) but the images are a projection of the 3D scene onto a 2D plane. The motion vectors may relate to the whole image (<i>global motion estimation</i>) or specific parts, such as rectangular blocks, arbitrary shaped patches or even per <a href="/wiki/Pixel" title="Pixel">pixel</a>. The motion vectors may be represented by a translational model or many other models that can approximate the motion of a real video camera, such as rotation and translation in all three dimensions and zoom. </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Related_terms">Related terms</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=1" title="Edit section: Related terms"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>More often than not, the term motion estimation and the term <i><a href="/wiki/Optical_flow" title="Optical flow">optical flow</a></i> are used interchangeably.<sup class="noprint Inline-Template Template-Fact" style="white-space:nowrap;">[<i><a href="/wiki/Wikipedia:Citation_needed" title="Wikipedia:Citation needed"><span title="This claim needs references to reliable sources. (August 2019)">citation needed</span></a></i>]</sup> It is also related in concept to <i><a href="/wiki/Image_registration" title="Image registration">image registration</a></i> and <i><a href="/wiki/Stereo_correspondence" class="mw-redirect" title="Stereo correspondence">stereo correspondence</a></i>.<sup id="cite_ref-Liu2006_1-0" class="reference"><a href="#cite_note-Liu2006-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> In fact all of these terms refer to the process of <a href="/wiki/Correspondence_problem" title="Correspondence problem">finding corresponding points</a> between two images or video frames. The points that correspond to each other in two views (images or frames) of a real scene or object are "usually" the same point in that scene or on that object. Before we do motion estimation, we must define our measurement of correspondence, i.e., the matching metric, which is a measurement of how similar two image points are. There is no right or wrong here; the choice of matching metric is usually related to what the final estimated motion is used for as well as the optimisation strategy in the estimation process. </p><p>Each <i>motion vector</i> is used to represent a <i><a href="/wiki/Macroblock" title="Macroblock">macroblock</a></i> in a picture based on the position of this macroblock (or a similar one) in another picture, called the reference picture. </p><p>The <a href="/wiki/H.264/MPEG-4_AVC" class="mw-redirect" title="H.264/MPEG-4 AVC">H.264/MPEG-4 AVC</a> standard defines <i>motion vector</i> as: </p> <blockquote> <p>motion vector: a two-dimensional vector used for inter prediction that provides an offset from the coordinates in the decoded picture to the coordinates in a reference picture.<sup id="cite_ref-2" class="reference"><a href="#cite_note-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-3" class="reference"><a href="#cite_note-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup> </p> </blockquote> <div class="mw-heading mw-heading2"><h2 id="Algorithms">Algorithms</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=2" title="Edit section: Algorithms"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The methods for finding motion vectors can be categorised into pixel based methods ("direct") and feature based methods ("indirect"). A famous debate resulted in two papers from the opposing factions being produced to try to establish a conclusion.<sup id="cite_ref-4" class="reference"><a href="#cite_note-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-5" class="reference"><a href="#cite_note-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading3"><h3 id="Direct_methods">Direct methods</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=3" title="Edit section: Direct methods"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Block-matching_algorithm" title="Block-matching algorithm">Block-matching algorithm</a></li> <li><a href="/wiki/Phase_correlation" title="Phase correlation">Phase correlation</a> and frequency domain methods</li> <li>Pixel recursive algorithms</li> <li><a href="/wiki/Optical_flow" title="Optical flow">Optical flow</a></li></ul> <div class="mw-heading mw-heading3"><h3 id="Indirect_methods">Indirect methods</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=4" title="Edit section: Indirect methods"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p><i>Indirect methods</i> use features, such as <a href="/wiki/Corner_detection" title="Corner detection">corner detection</a>, and match corresponding features between frames, usually with a statistical function applied over a local or global area. The purpose of the statistical function is to remove matches that do not correspond to the actual motion. </p><p>Statistical functions that have been successfully used include <a href="/wiki/RANSAC" class="mw-redirect" title="RANSAC">RANSAC</a>. </p> <div class="mw-heading mw-heading3"><h3 id="Additional_note_on_the_categorization">Additional note on the categorization</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=5" title="Edit section: Additional note on the categorization"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>It can be argued that almost all methods require some kind of definition of the matching criteria. The difference is only whether you summarise over a local image region first and then compare the summarisation (such as feature based methods), or you compare each pixel first (such as squaring the difference) and then summarise over a local image region (block base motion and filter based motion). An emerging type of matching criteria summarises a local image region first for every pixel location (through some feature transform such as Laplacian transform), compares each summarised pixel and summarises over a local image region again.<sup id="cite_ref-6" class="reference"><a href="#cite_note-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup> Some matching criteria have the ability to exclude points that do not actually correspond to each other albeit producing a good matching score, others do not have this ability, but they are still matching criteria. </p> <div class="mw-heading mw-heading2"><h2 id="Affine_motion_estimation">Affine motion estimation</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=6" title="Edit section: Affine motion estimation"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p><a href="/w/index.php?title=Affine_motion_estimation&action=edit&redlink=1" class="new" title="Affine motion estimation (page does not exist)">Affine motion estimation</a> is a technique used in computer vision and image processing to estimate the motion between two images or frames. It assumes that the motion can be modeled as an affine transformation (translation + rotation + zooming), which is a linear transformation followed by a translation. </p> <div class="mw-heading mw-heading2"><h2 id="Applications">Applications</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=7" title="Edit section: Applications"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <figure class="mw-default-size" typeof="mw:File/Thumb"><a href="/wiki/File:Motion_interpolation_example.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/commons/thumb/6/6f/Motion_interpolation_example.jpg/220px-Motion_interpolation_example.jpg" decoding="async" width="220" height="98" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/commons/thumb/6/6f/Motion_interpolation_example.jpg/330px-Motion_interpolation_example.jpg 1.5x, //upload.wikimedia.org/wikipedia/commons/thumb/6/6f/Motion_interpolation_example.jpg/440px-Motion_interpolation_example.jpg 2x" data-file-width="1800" data-file-height="800" /></a><figcaption>Video frames with <a href="/wiki/Motion_interpolation" title="Motion interpolation">motion interpolation</a></figcaption></figure> <div class="mw-heading mw-heading3"><h3 id="Video_coding">Video coding</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=8" title="Edit section: Video coding"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Applying the motion vectors to an image to synthesize the transformation to the next image is called <a href="/wiki/Motion_compensation" title="Motion compensation">motion compensation</a>.<sup id="cite_ref-FurhtGreenberg2012_7-0" class="reference"><a href="#cite_note-FurhtGreenberg2012-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup> It is most easily applied to <a href="/wiki/Discrete_cosine_transform" title="Discrete cosine transform">discrete cosine transform</a> (DCT) based <a href="/wiki/Video_coding_standards" class="mw-redirect" title="Video coding standards">video coding standards</a>, because the coding is performed in blocks.<sup id="cite_ref-8" class="reference"><a href="#cite_note-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup> </p><p>As a way of exploiting temporal redundancy, motion estimation and compensation are key parts of <a href="/wiki/Video_compression" class="mw-redirect" title="Video compression">video compression</a>. Almost all video coding standards use block-based motion estimation and compensation such as the <a href="/wiki/MPEG" class="mw-redirect" title="MPEG">MPEG</a> series including the most recent <a href="/wiki/HEVC" class="mw-redirect" title="HEVC">HEVC</a>. </p> <div class="mw-heading mw-heading3"><h3 id="3D_reconstruction">3D reconstruction</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=9" title="Edit section: 3D reconstruction"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>In <a href="/wiki/Simultaneous_localization_and_mapping" title="Simultaneous localization and mapping">simultaneous localization and mapping</a>, a 3D model of a scene is reconstructed using images from a moving camera.<sup id="cite_ref-9" class="reference"><a href="#cite_note-9"><span class="cite-bracket">[</span>9<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="See_also">See also</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=10" title="Edit section: See also"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Moving_object_detection" title="Moving object detection">Moving object detection</a></li> <li><a href="/wiki/Graphics_processing_unit" title="Graphics processing unit">Graphics processing unit</a></li> <li><a href="/wiki/Vision_processing_unit" title="Vision processing unit">Vision processing unit</a></li> <li><a href="/wiki/Scale-invariant_feature_transform" title="Scale-invariant feature transform">Scale-invariant feature transform</a></li></ul> <div class="mw-heading mw-heading2"><h2 id="References">References</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Motion_estimation&action=edit&section=11" title="Edit section: References"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <div class="mw-references-wrap"><ol class="references"> <li id="cite_note-Liu2006-1"><span class="mw-cite-backlink"><b><a href="#cite_ref-Liu2006_1-0">^</a></b></span> <span class="reference-text"><style data-mw-deduplicate="TemplateStyles:r1238218222">.mw-parser-output cite.citation{font-style:inherit;word-wrap:break-word}.mw-parser-output .citation q{quotes:"\"""\"""'""'"}.mw-parser-output .citation:target{background-color:rgba(0,127,255,0.133)}.mw-parser-output .id-lock-free.id-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/6/65/Lock-green.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-limited.id-lock-limited a,.mw-parser-output .id-lock-registration.id-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/d/d6/Lock-gray-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-subscription.id-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/a/aa/Lock-red-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .cs1-ws-icon a{background:url("//upload.wikimedia.org/wikipedia/commons/4/4c/Wikisource-logo.svg")right 0.1em center/12px no-repeat}body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-free a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-limited a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-registration a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-subscription a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .cs1-ws-icon a{background-size:contain;padding:0 1em 0 0}.mw-parser-output .cs1-code{color:inherit;background:inherit;border:none;padding:inherit}.mw-parser-output .cs1-hidden-error{display:none;color:var(--color-error,#d33)}.mw-parser-output .cs1-visible-error{color:var(--color-error,#d33)}.mw-parser-output .cs1-maint{display:none;color:#085;margin-left:0.3em}.mw-parser-output .cs1-kern-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right{padding-right:0.2em}.mw-parser-output .citation .mw-selflink{font-weight:inherit}@media screen{.mw-parser-output .cs1-format{font-size:95%}html.skin-theme-clientpref-night .mw-parser-output .cs1-maint{color:#18911f}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .cs1-maint{color:#18911f}}</style><cite id="CITEREFJohn_X._Liu2006" class="citation book cs1">John X. Liu (2006). <a rel="nofollow" class="external text" href="https://books.google.com/books?id=pmXzAbPUvnYC&q=%22motion+estimation%22+correspondence"><i>Computer Vision and Robotics</i></a>. Nova Publishers. <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/978-1-59454-357-9" title="Special:BookSources/978-1-59454-357-9"><bdi>978-1-59454-357-9</bdi></a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Computer+Vision+and+Robotics&rft.pub=Nova+Publishers&rft.date=2006&rft.isbn=978-1-59454-357-9&rft.au=John+X.+Liu&rft_id=https%3A%2F%2Fbooks.google.com%2Fbooks%3Fid%3DpmXzAbPUvnYC%26q%3D%2522motion%2Bestimation%2522%2Bcorrespondence&rfr_id=info%3Asid%2Fen.wikipedia.org%3AMotion+estimation" class="Z3988"></span></span> </li> <li id="cite_note-2"><span class="mw-cite-backlink"><b><a href="#cite_ref-2">^</a></b></span> <span class="reference-text"><a rel="nofollow" class="external text" href="http://www.stewe.org/itu-recs/h264.pdf">Latest working draft of H.264/MPEG-4 AVC</a> <a rel="nofollow" class="external text" href="https://web.archive.org/web/20040723160536/http://www.stewe.org/itu-recs/h264.pdf">Archived</a> 2004-07-23 at the <a href="/wiki/Wayback_Machine" title="Wayback Machine">Wayback Machine</a>. Retrieved on 2008-02-29.</span> </li> <li id="cite_note-3"><span class="mw-cite-backlink"><b><a href="#cite_ref-3">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.hhi.fraunhofer.de/fileadmin/hhi/downloads/IP/ip_ic_H.264-MPEG4-AVC-Version8-FinalDraft.pdf">"Latest working draft of H.264/MPEG-4 AVC on hhi.fraunhofer.de"</a> <span class="cs1-format">(PDF)</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Latest+working+draft+of+H.264%2FMPEG-4+AVC+on+hhi.fraunhofer.de.&rft_id=http%3A%2F%2Fwww.hhi.fraunhofer.de%2Ffileadmin%2Fhhi%2Fdownloads%2FIP%2Fip_ic_H.264-MPEG4-AVC-Version8-FinalDraft.pdf&rfr_id=info%3Asid%2Fen.wikipedia.org%3AMotion+estimation" class="Z3988"></span><sup class="noprint Inline-Template"><span style="white-space: nowrap;">[<i><a href="/wiki/Wikipedia:Link_rot" title="Wikipedia:Link rot"><span title=" Dead link tagged October 2023">permanent dead link</span></a></i><span style="visibility:hidden; color:transparent; padding-left:2px">‍</span>]</span></sup></span> </li> <li id="cite_note-4"><span class="mw-cite-backlink"><b><a href="#cite_ref-4">^</a></b></span> <span class="reference-text">Philip H.S. Torr and Andrew Zisserman: <a rel="nofollow" class="external text" href="https://www.robots.ox.ac.uk/~vgg/publications/2000/Torr00a/torr00a.pdf">Feature Based Methods for Structure and Motion Estimation</a>, ICCV Workshop on Vision Algorithms, pages 278-294, 1999</span> </li> <li id="cite_note-5"><span class="mw-cite-backlink"><b><a href="#cite_ref-5">^</a></b></span> <span class="reference-text">Michal Irani and P. Anandan: <a rel="nofollow" class="external text" href="https://web.archive.org/web/20180102072903/https://pdfs.semanticscholar.org/3d18/95f35202c2f421491df10105ff83c851ebd1.pdf">About Direct Methods</a>, ICCV Workshop on Vision Algorithms, pages 267-277, 1999.</span> </li> <li id="cite_note-6"><span class="mw-cite-backlink"><b><a href="#cite_ref-6">^</a></b></span> <span class="reference-text">Rui Xu, David Taubman & Aous Thabit Naman, '<a rel="nofollow" class="external text" href="https://ieeexplore.ieee.org/abstract/document/7370941/">Motion Estimation Based on Mutual Information and Adaptive Multi-scale Thresholding</a>', in IEEE Transactions on Image Processing, vol. 25, no. 3, pp. 1095-1108, March 2016.</span> </li> <li id="cite_note-FurhtGreenberg2012-7"><span class="mw-cite-backlink"><b><a href="#cite_ref-FurhtGreenberg2012_7-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFBorko_FurhtJoshua_GreenbergRaymond_Westwater2012" class="citation book cs1">Borko Furht; Joshua Greenberg; Raymond Westwater (6 December 2012). <a rel="nofollow" class="external text" href="https://books.google.com/books?id=OaLhBwAAQBAJ&q=%22motion+compensation%22"><i>Motion Estimation Algorithms for Video Compression</i></a>. Springer Science & Business Media. <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/978-1-4615-6241-2" title="Special:BookSources/978-1-4615-6241-2"><bdi>978-1-4615-6241-2</bdi></a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Motion+Estimation+Algorithms+for+Video+Compression&rft.pub=Springer+Science+%26+Business+Media&rft.date=2012-12-06&rft.isbn=978-1-4615-6241-2&rft.au=Borko+Furht&rft.au=Joshua+Greenberg&rft.au=Raymond+Westwater&rft_id=https%3A%2F%2Fbooks.google.com%2Fbooks%3Fid%3DOaLhBwAAQBAJ%26q%3D%2522motion%2Bcompensation%2522&rfr_id=info%3Asid%2Fen.wikipedia.org%3AMotion+estimation" class="Z3988"></span></span> </li> <li id="cite_note-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-8">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFSwartz2005" class="citation book cs1">Swartz, Charles S. (2005). <a rel="nofollow" class="external text" href="https://books.google.com/books?id=tYw3ehoBnjkC&pg=PA143"><i>Understanding Digital Cinema: A Professional Handbook</i></a>. <a href="/wiki/Taylor_%26_Francis" title="Taylor & Francis">Taylor & Francis</a>. p. 143. <a href="/wiki/ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <a href="/wiki/Special:BookSources/9780240806174" title="Special:BookSources/9780240806174"><bdi>9780240806174</bdi></a>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=book&rft.btitle=Understanding+Digital+Cinema%3A+A+Professional+Handbook&rft.pages=143&rft.pub=Taylor+%26+Francis&rft.date=2005&rft.isbn=9780240806174&rft.aulast=Swartz&rft.aufirst=Charles+S.&rft_id=https%3A%2F%2Fbooks.google.com%2Fbooks%3Fid%3DtYw3ehoBnjkC%26pg%3DPA143&rfr_id=info%3Asid%2Fen.wikipedia.org%3AMotion+estimation" class="Z3988"></span></span> </li> <li id="cite_note-9"><span class="mw-cite-backlink"><b><a href="#cite_ref-9">^</a></b></span> <span class="reference-text">Kerl, Christian, Jürgen Sturm, and <a href="/wiki/Daniel_Cremers" title="Daniel Cremers">Daniel Cremers</a>. "<a rel="nofollow" class="external text" href="http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.402.5544&rep=rep1&type=pdf">Dense visual SLAM for RGB-D cameras</a>." 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013.</span> </li> </ol></div> <div class="navbox-styles"><style data-mw-deduplicate="TemplateStyles:r1129693374">.mw-parser-output .hlist dl,.mw-parser-output .hlist ol,.mw-parser-output .hlist ul{margin:0;padding:0}.mw-parser-output .hlist dd,.mw-parser-output .hlist dt,.mw-parser-output .hlist li{margin:0;display:inline}.mw-parser-output .hlist.inline,.mw-parser-output .hlist.inline dl,.mw-parser-output .hlist.inline ol,.mw-parser-output .hlist.inline ul,.mw-parser-output .hlist dl dl,.mw-parser-output .hlist dl ol,.mw-parser-output .hlist dl ul,.mw-parser-output .hlist ol dl,.mw-parser-output .hlist ol ol,.mw-parser-output .hlist ol ul,.mw-parser-output .hlist ul dl,.mw-parser-output .hlist ul ol,.mw-parser-output .hlist ul ul{display:inline}.mw-parser-output .hlist .mw-empty-li{display:none}.mw-parser-output .hlist dt::after{content:": "}.mw-parser-output .hlist dd::after,.mw-parser-output .hlist li::after{content:" · ";font-weight:bold}.mw-parser-output .hlist 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