Maximum likelihood mapping with spectral image registration

@article{Pfingsthorn2010MaximumLM,
  title={Maximum likelihood mapping with spectral image registration},
  author={Max Pfingsthorn and Andreas Birk and S{\"o}ren Schwertfeger and Heiko B{\"u}low and Kaustubh Pathak},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={4282-4287}
}
A core challenge in probabilistic mapping is to extract meaningful uncertainty information from data registration methods. While this has been investigated in ICP-based scan matching methods, other registration methods have not been analyzed. In this paper, an uncertainty analysis of a Fourier Mellin based image registration algorithm is introduced, which to our knowledge is the first of its kind involving spectral registration. A covariance matrix is extracted from the result of a Phase-Only… CONTINUE READING

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