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===Classical Models===
Many classical models use the intuitive assumption of ''brightness constancy''; that even if a point moves between frames, its brightness stays constant.<ref name="Fortun_Survey_2015">{{cite journal |last1=Fortun |first1=Denis |last2=Bouthemy |first2=Patrick |last3=Kervrann |first3=Charles|title=Optical flow modeling and computation: A survey |journal=Computer Vision and Image Understanding |date=2015-05-01 |volume=134 |pages=1-21 |doi=10.1016/j.cviu.2015.02.008 |url=https://www.sciencedirect.com/science/article/pii/S1077314215000429 |access-date=2024-12-23}}</ref>
To formalise this intuitive assumption, consider two consecutive frames from a video sequence, with intensity <math>I(x, y, t)</math>, where <math>(x, y)</math> refer to pixel coordinates and <math>t</math> refers to time.
In this case, the brightness constancy constraint is
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