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  • Hence, the minimum (ui,j,k, vi,j,k) of Eq 5 at an arbitrary pixel (i, j) in the discrete domain D of 704 × 576 pixels per frame k ∈ {0, 1, ⋯, Nmax can be estimated iteratively as follows [13]: ui,j,kn+1=u¯i,j,kn-ExExu¯i,j,kn+Eyv¯i,j,kn+Etη2+Ex2+Ey2,vi,j,kn+1=v¯i,j,kn-EyExu¯i,j,kn+Eyv¯i,j,kn+Etη2+Ex2+Ey2,(8) where ui,j,k0=vi,j,k0=0, n = {1, ⋯, N}, N = 25 is the maximum number of iterations, η = 10 considering a large relative motion between frames [15], and (u¯i,j,kn,v¯i,j,kn) is the neighbourhood average of (ui,j,kn,vi,j,kn) computed using the convolution kernel [1 2 1; 2 0 2;1 2 1]/4(1+2) [16].
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