Global optimization

p4,4

p1,2

p3,4

p4,1

p3,3

p1,1

p1,3

p2,4

p2,2

I1

I2

I3

I4

• 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