Color feature and density-based image mosaicing using repeated application of the ICP algorithm

Abstract

A Color Feature and Density based (CFD) image mosaicing (IM) algorithm is presented in this paper. In the initial step, color image segmentation is used to provide a global match between an image pair. The well-known Iterated Closest Point (ICP) algorithm is used to find a transformation for global alignment. Finally, the ICP algorithm is applied again to find a transformation for local adjustment. By using this approach, it is shown that we can guarantee global alignment accuracy because the feature based method is used to find the initial matching of two image frames. We achieve local optimal pixel alignment based on the minimization of the Sum of Squares of Differences (SSD) between two images from the same overlapping area.