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I am researching KLT tracking algorithm and I came across this paper. It says:

However, smaller windows are in general preferable for tracking because they are less likely to straddle a depth discontinuity. For this reason, a pure translation model is preferable during tracking,...

I am trying to understand why a separate translation model is needed when the affine model is being calculated anyway. Here are the things that I have observed:

  1. A KLT implementation can work without using Affine Transformation for calculation of residue, by relying only on the much simpler translation model.
  2. The window size is different for both models.
  3. The affine model for the residue calculation need not be very accurate which means lower computation expense.

I think the observations 2 and 3, along with the issue of "straddling a depth discontinuity" provides a good set of reasons to have two separate models.

My questions are:

  1. Are the above three observations correct?
  2. What exactly does "straddle a depth discontinuity" mean? I am not a native English speaker and I am not able to connect the meaning of the word 'straddle' with this context.
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