Accurate and Robust Image Alignment for Road Profile Reconstruction

In this paper we propose a novel approach of the two-image alignment problem based on a functional representation of images. This allows us to derive a one-to-several correspondence, multi-scale algorithm. At the same time, it also formalizes the problem as a robust estimation problem between possible matches. We then derive an accurate, robust and faster version for the alignment of edge images. The proposed algorithm is developed and tested in the context of off-line longitudinal road profile reconstruction from stereo images.