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The Horn and Schunck (HS) method, which amounts to the Jacobi iterative scheme in the interior of the image, was one of the first optical flow algorithms. In this article, we prove the convergence of the HS method, whenever the problem is well-posed. Our result is shown in the framework of a generalization of the HS method in dimension n ≥ 1, with a broad definition of the discrete Laplacian. In this context, the condition for the convergence is that the intensity gradients are not all contained in a same hyperplane. Two other articles ([17] and [13]) claimed to solve this problem in the case n = 2, but it appears that both of these proofs are erroneous. Moreover, we explain why some standard results on the convergence of the Jacobi method do not apply for the HS problem, unless n = 1. It is also shown that the convergence of the HS scheme implies the convergence of the Gauss-Seidel and SOR schemes for the HS problem.

A Proof of Convergence of the Horn--Schunck Optical Flow Algorithm in Arbitrary Dimension