EECE5639 Project 2 Image Mosaicing Solved

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The purpose of this project is to find corner features in multiple images and to align the images
in a mosaic by estimating a homography between corresponding features.

1. Overview:

In this project you will apply a Harris corner detector to find corners in two images, automatically find corresponding features, estimate a homography between the two images, and
warp one image into the coordinate system of the second one to produce a mosaic containing
the union of all pixels in the two images.

2. Project Requirements:

(a) Write a program to implement the above ideas. Sample images to test your program
will be available in Canvas. The basic outline of your program should be as follows:
i. Read in two images. (Note: if the images are large, you may want to reduce their
size to keep running time reasonable! Document in your report the scale factor you

ii. Apply Harris corner detector to both images: compute Harris R function over the
image, and then do non-maimum suppression to get a sparse set of corner features.
iii. Find correspondences between the two images: given two set of corners from the
two images, compute normalized cross correlation (NCC) of image patches centered
at each corner. (Note that this will be O(n
) process.) Choose potential corner
matches by finding pair of corners (one from each image) such that they have the
highest NCC value. You may also set a threshold to keep only matches that have a
large NCC score.
iv. Estimate the homography using the above correspondences. Note that these correspondences are likely to have many errors (outliers). That is ok: you should use
RANSAC to robustly estimate the homography from the noisy correspondences:

A. Repeatedly sample minimal number of points needed to estimate a homography
(4 pts in this case).
B. Compute a homography from these four points.
C. Map all points using the homagraphy and comparing distances between predicted and observed locations to determine the number of inliers.
D. At the end, compute a least-squares homgraphy from ALL the inliers in the
largest set of inliers.
v. Warp one image onto the other one, blending overlapping pixels together to create
a single image that shows the union of all pixels from both input images. You can
choose which of the images to warp. The steps are as follows:
A. Determine how big to make the final output image so that it contains the union
of all pixels in the two images.

B. Copy the image that does not have to be warped into the appropriate location
in the output.
C. Warp the other image into the output image based on the estimated homography
(or its inverse). You can use matlab functions if you want or write your own
warping function.
D. Use any of the blending schemes we will discuss in class to blend pixels in the
area of overlap between both images.

(b) Write a report. The report should include:
i. Abstract, description of algorithms, experiments, values of parameters used, observations and conclusions.
ii. A FLOWCHART, input and output images.
iii. An image showing potential corner feature location matches between the two images.
An example of how to show them is given in the figure below.
iv. An appendix with your source code

Extra Credit Warp one image into a “frame” region in the second image. To do this, let the
points from the one view be the corners of the image you want to insert in the frame and let the
corresponding points in the second view be the clicked points of the frame (rectangle) into which
the first image should be warped (Look at Matlab’s ginput function for an easy way to collect
mouse clicks). Use this idea to replace one surface in an image with a picture of your pet or project
a drawing from one image onto the street in another image, or paste a powerpoint slide on a movie
screen, etc … Be creative! Send me your result by email so I can share it with the rest of the class.
(a) (b)
Figure 1: (a) Corresponding matches with outliers; (b) after they are cleaned and (c) the final