Feature correspondence and motion recovery in vehicle planar navigation

This paper describes a strategy to feature point correspondence and motion recovery in vehicle navigation. A transformation of the image plane is proposed that keeps the motion of the vehicle on a plane parallel to the transformed image plane. This permits to define linear tracking filters to estimate the real-world positions of the features, and allows us to select the matches that accomplish the rigidity of the scene by a Hough transform. Candidate correspondences are selected by similarity, taking into account the smoothness of motion. Further processing brings out the final matching. The methods have been tested in a real application.