Feature detection and tracking with an affine consistency check

The equations for detecting features, tracking them between consecutive frames, and checking for consistency using an affine transformation will be derived below using the inverse compositional approach. We will begin by deriving the equations for tracking, because this will yield some insight into which features would be good to track. The source code for this project is available for download at the end. Below is a video of this project in action. Your browser doesn't support the HTML5 Read more [...]