homest

homest is a C/C++ library for robust, non-linear homography estimation. A homography (sometimes also called a collineation) is a general plane to plane projective transformation whose estimation from matched image features is often necessary in vision tasks. It computes a homography estimate that minimizes an appropriate non-linear cost function defined on matching points (currently either non-symmetric transfer error, symmetric transfer error, Sampson error, or reprojection error) and includes robust regression techniques for coping with outliers (i.e., mismatched point pairs). It supports the estimation of fully projective (8 dof) and affine (6 dof) homographies.