Method and apparatus for tie-point registration of disparate imaging sensors by matching optical flow

摘要

A method and apparatus for enabling the registration of co-located, disparate imaging sensors by computing the optical flow of each sensor as all the sensors simultaneously observe a moving object, or as all the sensors simultaneously move observing an object. The tie point registration of disparate imaging sensors is made more robust by matching optical flow and by levering the temporal motion within a pair of video sequences and using an additional constraint to minimize the disparity in optical flow between registered video sequences. The method includes parametrically computing the optical flow of each video sequence separately relative to a reference frame pair, identifying a matching constellation of tie-points in the reference pair of images, for all frames, computing the positions of tie-points b_i=b₀+e_i where e_i=predictive term to generate a new set of tie-points, after transformation by optical flow. For each frame, the total squared error resulting from an over-determined solution of affine registration problem is computed. The choice of e_i is adjusted to minimize the total squared error over all frames of video.