Global optimization
•Minimize a global energy function:
–What are the variables?
•The translation tj = (xj, yj) for each image
–What is the objective function?
•We have a set of matched features pi,j = (ui,j, vi,j)
•For each point match (pi,j, pi,j+1):
– pi,j+1 – pi,j = tj+1 – tj
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–
I1
I2
I3
I4
p1,1
p1,2
p1,3
p2,2
p2,3
p2,4
p3,3
p3,4
p4,4
p4,1