?

Camera pixel pitch (metres).

? _eff

Effective pixel pitch taking dynamic scale into account (metres).

(x _r, y _r)

Image resolution 512 32 pixels.

f

Camera focal length (metres).

F

Frame interval (seconds). Equal to 1/FPS.

( ? _x, ? _y, ? _t)

Spatiotemporal frequency of I( x, y, t).

C( x, y, t)

Additive component of spatiotemporal brightness offset field.

I( x, y, t)

True spatiotemporal intensity function on the camera sensor surface.

I( x, y, t)

Spatiotemporal intensity function measured by the camera sensor.

I _x, I _y, I _t

Measured spatiotemporal partial derivatives of the intensity function.

Level

Level in the image pyramid, with the original image labelled level 0.

M( x, y, t)

Multiplicative component of spatiotemporal brightness offset field.

( x, y)

Image sensor coordinate system, measured in pixels.

(x, y)

Image sensor coordinate system. Measured in metres with origin at the intersection of optical axis and image plane.

(X, Y, Z)

Camera centred world coordinate system. Defined with origin at the focal point, the XY plane parallel to the xy plane and the Z axis coinciding with the optical axis (metres).

Z _X, Z _Y, Z _Z

Depth derivatives.

p = ( p _x, p _y)

A point...