Fusing the matching and motion estimation of rigid point patterns

A method is presented for integrating the problems of matching and motion estimation. A general principle of consistent motion for such a fusion is formulated. Using this principle, the rigidity constraint is incorporated into the correspondence process. A fusion algorithm for point matching is presented. The overdetermination of essential motion equations is utilized directly to give a matching error measurement of any hypothesized correspondence, so that the correspondence and motion estimation are constructed as a single combinatorial optimization problem. A coarse-to-fine strategy for point-matching is also put forward. The method is especially applicable to cases where the set of possible correspondence has been found. Examples show the effectiveness of the proposed method