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Chapter 6

Feature-based alignment

6.1 2D and 3D feature-based alignment ...................... 275
6.1.1 2D alignment using least squares .................... 275
6.1.2 Application: Panography ........................ 277
6.1.3 Iterative algorithms ........................... 278
6.1.4 Robust least squares and RANSAC .................. 281
6.1.5 3D alignment .............................. 283
6.2 Pose estimation ................................. 284
6.2.1 Linear algorithms ............................ 284
6.2.2 Iterative algorithms ........................... 286
6.2.3 Application: Augmented reality .................... 287
6.3 Geometric intrinsic calibration ......................... 288
6.3.1 Calibration patterns ........................... 289
6.3.2 Vanishing points ............................ 290
6.3.3 Application: Single view metrology .................. 292
6.3.4 Rotational motion ........................... 293
6.3.5 Radial distortion ............................ 295
6.4 Additional reading ............................... 296
6.5 Exercises .................................... 296

R. Szeliski, Computer Vision: Algorithms and Applications, Texts in Computer Science, 273
DOI 10.1007/978-1-84882-935-0_6, © Springer-Verlag London Limited 2011