Robust ground-plane homography estimation using adaptive feature selection

摘要

Described is system and method for robust ground-plane homography estimation using adaptive feature selection. The system determines feature correspondences of an image that correspond with at least one moving object in each image in a set of images. Additionally, feature correspondences of the image that correspond with at least one above-ground object are determined in each image. Feature correspondences that correspond with each moving object in each image are excluded, and feature correspondences that correspond with each above-ground object in each image are excluded. Each image is divided into a plurality of sub-regions comprising features correspondences. The number of feature correspondences in each sub-region is limited to a predetermined threshold to ensure that feature correspondences are evenly distributed over each image. Finally, a ground-plane homography estimation between the set of images is generated.