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夕馥棺嗚齋冩梢

處讐繁砂奏 伶凩槌
峺擬縮弗沙惓Y
僥垪歳渡芦畠垢殻僥垪
          !
?? 夕馥棺啜柘τ!
夕馥棺喙 ?? 室宝初府!
  初!


      ?? 庠中誘唹!
      ?? 蒙尢泣戻函才宙峰麻隈初府!
      ?? 謄塘麻隈!
夕馘籃! ?? 悳潤!



      ?? 夕騅炎延算庁侏!
      ?? 夕餡縉!
夕馮攤! ?? 円順狛局嚥高孚距屁!




 處幣!
哘?喘
Image Stitching Method
夕馘籃室縞
念戻嚥邪譜

" ? 田父夕餤追穗饂嶄伉耕協。父饂茅阻汎忿已邦峠圭
 鯰廬翌短嗤凪麿傴廬賜峠卞。


" ? 侭憧俊夕駻侑散┻綴愃惑囃。
夕馘籃

" ? 庠中誘唹

" ? 蒙尢泣戻函才宙峰麻隈初府

" ? 蒙尢泣謄塘

" ? 圭宛曳熟

" ? 弌潤
庠?中誘唹

" ? 憲栽參貧訳周議夕顳駅倬将狛圓侃尖嘉嬬序佩蒙尢
 泣議戻函才謄塘。倦夸氏竃嵳赦餤漬散坊鉄麒д羌掴
 鵝


" ? 葎盾畳宸倖諒籾厘断繍夕頭誘唹壓匯倖庠中貧。
Image Stitching Method
庠?中誘唹

誘唹巷塀泌和!


     ??                      C
                        c?
     ??                       2 ) + f ? arctg ( C )
     ??c ' = f ? arctn(
     ??                    f                   2f
     ??
     ??                          R
                        f (r ? )
     ??                          2         R
     ??        r'=                       +
     ??                     C 2       2    2
                      (c ? ) + f
     ??
     ??                      2
庠?中誘唹
夕馘籃

" ? 庠中誘唹

" ? 蒙尢泣戻函才宙峰麻隈初府

" ? 蒙尢泣謄塘

" ? 圭宛曳熟

" ? 弌潤
" ? 勣謄塘曾嫌夕餤通慱泣嗤參和化帶




   戻函        宙峰          謄塘
堰温姻姻庄壊麻隈戻函?叔泣

        ?? ?? ?I ??2        ?? ?I ?? ?? ?I ?? ??
        ?? ?? ??            ?? ?? ?? ?? ??
        ??    ?? ?x ??      ?? ?x ?? ?? ?y ?? ??
    H = ??                               2    ?? ? L
        ???? ?I ?? ?? ?I ??     ?? ?I ?? ??
        ???? ?y ?? ?? ?x ??
        ?? ?? ?? ?? ??
                                ?? ?? ??
                                ?? ?y ?? ??


      R	
 ?=	
 ?det(H)	
 ?-?\	
 ?k(trace(H))	
 ?2	
 ?
      !


                I(x,y) ------------泣(x,y)侃議子業峙
                ?I/?x	
 ?-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\夕駸x圭魑漬蚕弋縞	
 ?
                ?I/?y-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\-?\夕駸y圭魑漬蚕弋縞	
 ?
                L ----------------瀰垉様┯瀚皇0
                det(H)-----------裳專H議佩双塀
                trace(H)--------裳專H議治
                k-------------------穉峙狼方!
堰温姻姻庄壊麻隈戻函?叔泣
宙峰蒙尢泣!!Hu音延裳

" ? 僉夲參蒙尢泣葎嶄伉磯抄葎r議垈侘曝囃	
 ?

" ? 蛍艶柴麻乎曝囃議碕駄清眉嶽蛍楚議鈍略Hu音延裳	
 ?

" ? 繍宸眉倖Hu裳栽旺葎匯倖21略議蒙尢鯀殖	
 ?
	
 ?
蒙尢泣戻函才宙峰!!皆鴛酷意麻隈

" ? 更夛互帽署忖満才互帽餓蛍署忖満!
蒙尢泣戻函才宙峰!!皆鴛酷意麻隈




                        戻函糧協
殊霞自峙泣       標僉自峙泣
                        議自峙泣

壓互帽餓蛍署忖満蛍蚊潤更嶄劔云駛惶穉
        戻函竃夕騏亠勅峙泣恬葎昨僉蒙尢泣旺壓
勣才万狒攀8倖駛惶穢埃杏蕨堆狒斃赦餡
        宸乂蒙尢泣嶄標僉渠詰斤曳業才侃噐円垉議蒙
嶄議光9倖駛惶禮26倖泣序佩曳熟。
        尢泣。!
泌惚劔云駛惶稱27倖泣嶄恷寄賜恷弌議夸
篇葎自峙泣。!
蒙尢泣戻函才宙峰!!皆鴛酷意麻隈

               購囚泣!
蒙尢泣戻函才宙峰!!皆鴛酷意麻隈



                   購囚泣!
蒙尢泣戻函才宙峰?圭宛

" ? 喇參貧3嶄麻隈厘断誼欺曾嶽圭宛

" ? 1. Harris麻隈戻函蒙尢泣Hu音延裳宙峰蒙尢泣誼欺
 21略蒙尢鯀拭


" ? 2. SIFT麻隈戻函才宙峰蒙尢泣誼欺128略蒙尢鯀拭
夕馘籃

" ? 庠中誘唹

" ? 蒙尢泣戻函才宙峰麻隈初府

" ? 蒙尢泣謄塘

" ? 圭宛曳熟

" ? 弌潤
蒙尢泣謄塘

" ? 邪譜凪蒙尢鯀仁Vl(i)宥狛和塀侭燕幣曾蒙尢鯀晋略
 議犇埔狎岻才恬葎宸曾倖蒙尢泣議猖鳶垓帆S
           21
                   Vl (i ) ? Vr (i )
        S =‘
          i =1   Vl (i ) + Vr (i ) + ε
" ? S埆弌猖洞挽集漾!
蒙尢泣謄塘

" ? 1. 夕1嶄議蒙尢泣p1(i)嚥夕2嶄議侭嗤蒙尢泣柴麻S孀
  竃夕2嶄議p2(j)、p2(k)聞誼S恷弌才肝弌。飛S(ij) <
  T*S(ik)夸範葎p2(j)頁p1(i)議謄塘泣凪嶄T葎匯穉峙。


" ? 2. 郡狛栖壓夕1嶄孀p2(j)議謄塘泣飛匆頁p1(i)夸範
  葎p1(i)才p2(j)謄塘。!
夕馘籃

" ? 庠中誘唹

" ? 蒙尢泣戻函才宙峰麻隈初府

" ? 蒙尢泣謄塘

" ? 圭宛曳熟

" ? 弌潤
?圭宛?曳熟

" ? 厘断斤曾耗圭宛議扮寂蝕壓matlab貧序佩阻曳熟匯
 協殻業貧辛參傍苧宸曾嶽麻隈議塰麻鹸墫業。!
?圭宛?曳熟潤惚


            圭宛匯!              圭宛屈!


戻函蒙尢泣喘扮!    3.327sharris!


蒙尢泣方!       159!              1600!


伏撹蒙尢裳專債扮!   0.288s!           6.167s┛凄戻函蒙尢
                              泣!
謄塘債扮!       0.044s!           3.846s!


謄塘泣斤方!      30!               219!
謄塘?圭宛!!?曳熟潤惚

" ? 圭宛屈曳圭宛匯戻函議蒙尢泣謹念宀埃葎朔宀議10蔚。
 揖扮誼欺議謄塘泣斤方匆謹。
" ? 謄塘泣謹辛參聞誼謄塘厚紗娼鳩徽匆頁塰麻堀業寄寄
 受蛸。
" ? 功象宸曾倖圭宛議蒙泣厘断誼竃參和潤胎
" ? 斤噐樫業寄弌犁院∀猖洞判聾澣塚赦馥棺咤辛哘喘圭
 宛匯
" ? 斤噐樫業寄弌牴扈牢鵝∀猖洞判狼裕塚赦顳辛哘喘圭
 宛屈。!
旋?喘腎寂?圭鰓縞勿茅列餓謄塘

" ? 斤噐父饂汎凪嶄伉壓蝶匯峠中傴廬遇音窟伏汎麼已傴
 廬遇田父議曾嫌夕顳輝曾嫌夕壓嗤嶷京何蛍議匯極電
 壓匯軟扮屎鳩謄塘泣岻寂澡竜椎穉噂悩由ざ閥室葎
 狃


" ? 壓資誼兜兵謄塘鹿朔辛參旋喘買弍叔才鉦宣肇茅列謄塘
 泣
Image Stitching Method
夕馘籃

" ? 庠中誘唹

" ? 蒙尢泣戻函才宙峰麻隈初府

" ? 蒙尢泣謄塘

" ? 圭宛曳熟

" ? 弌潤
" ? 夕馘籃社三禹荒RANSAC戻函恷寄坪泣鹿、哈擬謄塘
 吉狛殻。徽深打欺云仁籾侭寞斤議夕駝惶磽音壅寡函
 宸叱倖圭隈。殻會嶄宸乂圭隈議痕方厮亟竃工參朔序
 匯化個序麻隈。



" ? 崛緩夕馘籃執殻潤崩。誼欺議卦指峙葎銭俊瀚峠
 海業議峠譲峙工夕馮攤亙荒叩!
夕馮攤?圭隈
夕馮攤?圭隈



夕騅炎     夕餤腸     狛局嚥高
                  孚距屁      撹惚婢幣
延算庁侏      峙

眉嶽械需延算   恷惣除泣峨峙   瀰埃喩┠酬
8-歌方     隈        高孚距屁蕉
念鰉撹簷訥   褒瀰垈縉儀   來
鰉撹
夕騅炎延算庁侏

" ? 泌惚斤揖匯倖麗悶壓音揖議圭鮟佩田父資誼曾嫌夕
 頭凪嶄匯嫌夕饋敏塒┨斤哘議屈略啌符延算誼欺総
 匯嫌夕
" 匯違議誘唹延算侘塀
" 児云延算嗤胡來延算径符延算式誘唹延算!
?匯違誘唹延算侘塀




X¨=MX凪嶄X¨才X頁曾嫌夕騏亠塚匯尚麗
M裳專葎誘唹延算裳專。
械?需議美嶽夕餘篁残P
8-歌方庁侏

" ? 公協阻貫揖匯倖鉱賀泣徽頁音揖圭鯢賄追禝珍酬夕顳
 夸曾嫌嶷京夕餤長慙疑敏塒┨匯倖峠中議誘唹塰強庁
 侏宙峰。
" ? 峠中誘唹延算宥狛和中巷塀委匯嫌夕餘篁山描冒輌桟:
宥狛馴肝延算誼欺圭殻!




" ? 盾竃貧塀嶄議8倖狼方祥鳩協阻曾嫌夕岻寂議誘唹購
 狼貫遇頼撹醤嗤猴魁尚議曾嫌夕岻寂議廬算!
Image Stitching Method
" ? 喇噐夕餤掴駛惶穽炎脅頁屁方燕幣遇啌符朔議駛
 議恫炎音嬬隠屬頁屁方飛序佩酒汽函普夸夕騏仍
 竃鄰圈或婉粥浦諭慰惶 ̄。!
夕餘篁!!念鰉訥耋鰉撹




" ? 譜延算念補秘議駛
 恫炎頁(x, y)獏
 議延算朔補竃夕餤
 駛慝炎葎(u, v)
 延算議念鰉撹篋幼
 鰉撹箏岷雍吶葎:
念鰉撹


" ? 念鰉撹簓宙補秘議夕顳委耽倖夕駭駛(x,
 y)議疏業峙梓孚貧塀申唄欺(u, v)峺協議駛慘
 崔!
剃鰉撹


" ? 剃鰉撹箚喨箜夕餤(u, v)竃窟宥狛(U-1,
  V-1)孀欺万壓補秘夕騏亠栂志(x, y)旺委乎
  了崔侃駛惶珍繕番鬼公夕騏亠(u, v)駛惶磧!
" ? 泌夕侭幣剃鰉撹箟榁眩某婉患蝶孱万隠屬阻補
 竃夕餤諜禧漆敏埀刺宙欺。!
夕餤腸縉




" ? 曾嶽圭隈祭鄙攴泣峨峙隈才褒瀰垈縉儀!
恷惣除泣峨峙隈

" ? 峨峙泣議子業峙嚥凪恷惣除泣議子業峙猴
" ? 單泣瑳魑ァ⊃賈!
?圭隈
" ? 寡喘宸嶽峨峙隈哈秘議列餓曳熟寄械竃崑軾針
 嶇!
褒瀰垈縉儀

" ? 功象補秘夕駘鯉貧議駛慟祇竿袈┣釀亀禝鳥匐番!
?圭隈
Image Stitching Method
高孚距屁

" ? 喇噐高孚訳周音揖寡鹿議圻兵夕駸攸繕班六疵仆牢
 延晒咀緩岷俊憧俊氏壓夕餤綴惶曝囃恢伏疏業議柳
 延公繁音寔糞議湖。葎阻壓恷嶮憧栽議夕騏亠探汁
 芥議丼惚駅倬斤凪序佩圓侃尖。!
械?喘?圭隈

" ? 譲峙、圭餓頁冲弼勧補嶄械喘議曾倖由柴歌方辛聞喘
 宸曾倖歌方斤棋憧俊夕饅佩距屁繍匯嫌夕餤塚骸
 蒙尢験公棋憧俊議総翌匯嫌恷嶮聞屈宀屁悶疏業匯崑。!
醤悶狛殻
丼惚嚥蕉湮


" ? 餓峙牴扈牢鶺鳥娃
  氏擬崑子業峙階竃穉
  峙0255遇擬崑
  払寔


" ? 涙隈徭強登艶竃參陳
  匯嫌夕葎歌孚夕
個措麻隈議戻竃


???   繍距屁狼方譜葎
      曾嫌夕駛愼従
      峙岻餓議匯磯	
 ?
???   匯嫌夕受肇宸倖
      狼方総匯嫌夕
      紗貧宸倖狼方	

高孚距屁議蕉湮


" ? 泌惚圻兵孚頭敦高音栽癖寄頭駛惶稟易賜畠菜夸
    高孚距屁朔議丼惚音煮
" ? 距屁袈律泌惚熟寄議三氏擬崑子業峙階竃穉峙0
    255遇擬崑払寔




???   孚頭高孚邦峠牴邁惨麒隠喘瀰埃喩┻槌攤老酬┨局
      軸辛	

俊血狛局

" ? 瀰埃喩蛮栽隈
" ? I(x,y) = w(x,y)IL(x,y)+(1-w(x,y))IR(x,y)

" ? W(x,y)葎紗幡痕方凪函峙嚥乎泣欺憧俊嶄澣直狎誅
   來犢悄!
撹惚處?幣
Demo處幣
Image Stitching Method

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