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Fusing the matching and motion estimation of rigid point patterns

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3 Author(s)
G. -Q. Wei ; Nat. Lab. of Pattern Recognition, Acad. Sinica, Beijing, China ; Z. He ; S. D. Ma

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

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990