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Iterative Pyramidal LK Optical Flow

version (373 KB) by Berkin Bilgic
An implementation of Lucas-Kanade optical flow computation.


Updated 27 Mar 2009

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Using pyramid decomposition and iterative refinement, OF is calculated. Includes a demo and a paper that thoroughly explains the methodology.

Cite As

Berkin Bilgic (2021). Iterative Pyramidal LK Optical Flow (, MATLAB Central File Exchange. Retrieved .

Comments and Ratings (11)

Arnab Dhara

Please don't use this code. It is a wrong implementation. The convergence depends on the number of scales, which it shouldn't.

alon begin




Thanks.Recently,I'm researching this.

Y Simson

Nicely written code. Thanks

Assaf laufer

Hi all
the SAD before / SAD after is always at 1.6 ~ 1.9 for my pictures
Has anyone got beeter SAD ratio?

Berkin Bilgic


The terms Ix^2 and Iy^2 denote the second derivatives wrt to x and y. However, that matrix is sometimes ill conditioned, so you may want to google 'good features to track' by Shi&Tomosi which discusses that problem.

Gabriel Kasser


I am a french student and I tried make your algorythm work with python but I have a problem (I don't know if it is me or the pdf). when I compute the G matrix , this one is always uninvertible (I dont see how it would be possible to invert a Matrix [[Ix²,Ix*Iy],[IX*Iy,Iy²]] because the determinant is always 0) could you help me please?

Best regards

Berkin Bilgic


I added two example images and some more comments, I hope they'll be online soon.



Hi Berkin,

Thanks for sharing this. Could you please also upload the images yos9.tif and yos10.tif referenced in the demo.m file?


MATLAB Release Compatibility
Created with R2008a
Compatible with any release
Platform Compatibility
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