Optimizing of searching co-motion point-pairs for statistical camera calibration

In the paper we introduce an algorithm for matching partially overlapping image-pairs where the object of interest is in motion, even if the motion is discontinuous and in an unstructured environment. In our previous work [Z. Szlavik et al, 2004] we have shown that by using co-motion statistics matching of overlapping views can be done and then the projective geometry can be estimated. Here, we show how to optimize searching for concurrently moving pixels. The robust algorithm we describe here finds point correspondences in two images by using entropy-based thresholding and without searching for any structures and without the need for tracking continuous motion. Our method makes it possible to (re)calibrate multicamera systems without human assistance.