Do we really have to consider covariance matrices for image feature points?
Yasushi Kanazawa, Kenichi Kanatani · Electronics and Communications in Japan (Part III Fundamental Electronic Science) · 2002
Abstract We first describe in a unified way how to compute the covariance matrix from the gray levels of the image. We then experimentally investigate whether or not the computed covariance matrix actually reflects the accuracy of the feature position by doing subpixel correction using variable template matching. We also test if the accuracy of the homography and the fundamental matrix can really be improved by optimization using the covariance matrix computed from the gray levels. © 2002 Wiley Periodicals, Inc. Electron Comm Jpn Pt 3, 86(1): 1–10, 2003; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/ecjc.10042